diff --git a/NO_BUILD_AMD64 b/NO_BUILD_AMD64
index 716368c..faa75a9 100644
--- a/NO_BUILD_AMD64
+++ b/NO_BUILD_AMD64
@@ -13,3 +13,4 @@
 -//y2015_bot3:download
 -//y2016/wpilib/...
 -//y2016:download
+-//y2016:download_stripped
diff --git a/NO_BUILD_ROBORIO b/NO_BUILD_ROBORIO
index bd1907c..36ae012 100644
--- a/NO_BUILD_ROBORIO
+++ b/NO_BUILD_ROBORIO
@@ -3,6 +3,7 @@
 -//y2012/control_loops/python/...
 -//y2014_bot3/control_loops/python/...
 -//y2014/control_loops/python/...
+-//y2014_bot3/control_loops/python/...
 -//y2015/control_loops/python/...
 -//y2015_bot3/control_loops/python/...
 -//y2016/control_loops/python/...
diff --git a/WORKSPACE b/WORKSPACE
index 6d6f7e1..0d4eb2f 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -1,3 +1,5 @@
+workspace(name = 'org_frc971')
+
 new_local_repository(
   name = 'usr_repo',
   path = '/usr',
diff --git a/aos/common/actions/actions.h b/aos/common/actions/actions.h
index b26f732..07e569e 100644
--- a/aos/common/actions/actions.h
+++ b/aos/common/actions/actions.h
@@ -123,7 +123,7 @@
         run_value_(run_counter_.fetch_add(1, ::std::memory_order_relaxed) |
                    ((getpid() & 0xFFFF) << 16)),
         params_(params) {
-    LOG(INFO, "Action %" PRIx32 " created on queue %s\n", run_value_,
+    LOG(DEBUG, "Action %" PRIx32 " created on queue %s\n", run_value_,
         queue_group_->goal.name());
     // Clear out any old status messages from before now.
     queue_group_->status.FetchLatest();
@@ -211,10 +211,10 @@
           run_value_, queue_group_->goal.name());
     } else {
       if (sent_cancel_) {
-        LOG(INFO, "Action %" PRIx32 " on queue %s already cancelled\n",
+        LOG(DEBUG, "Action %" PRIx32 " on queue %s already cancelled\n",
             run_value_, queue_group_->goal.name());
       } else {
-        LOG(INFO, "Canceling action %" PRIx32 " on queue %s\n", run_value_,
+        LOG(DEBUG, "Canceling action %" PRIx32 " on queue %s\n", run_value_,
             queue_group_->goal.name());
         queue_group_->goal.MakeWithBuilder().run(0).Send();
         sent_cancel_ = true;
@@ -292,7 +292,7 @@
          queue_group_->status->last_running == run_value_)) {
       // It's currently running our instance.
       has_started_ = true;
-      LOG(INFO, "Action %" PRIx32 " on queue %s has been started\n",
+      LOG(DEBUG, "Action %" PRIx32 " on queue %s has been started\n",
           run_value_, queue_group_->goal.name());
     } else if (old_run_value_ != 0 &&
                queue_group_->status->running == old_run_value_) {
@@ -324,7 +324,7 @@
 template <typename T>
 void TypedAction<T>::DoStart() {
   if (goal_) {
-    LOG(INFO, "Starting action %" PRIx32 "\n", run_value_);
+    LOG(DEBUG, "Starting action %" PRIx32 "\n", run_value_);
     goal_->run = run_value_;
     goal_->params = params_;
     sent_started_ = true;
diff --git a/aos/common/logging/BUILD b/aos/common/logging/BUILD
index d4d3ca5..8b28482 100644
--- a/aos/common/logging/BUILD
+++ b/aos/common/logging/BUILD
@@ -176,6 +176,9 @@
   hdrs = [
     'implementations.h',
   ],
+  linkopts = [
+    '-pthread',
+  ],
   deps = [
     '//aos/common:die',
     '//aos/common:time',
diff --git a/aos/common/time.cc b/aos/common/time.cc
index 87c991d..125b016 100644
--- a/aos/common/time.cc
+++ b/aos/common/time.cc
@@ -12,7 +12,45 @@
 #include "aos/common/logging/logging.h"
 #include "aos/common/mutex.h"
 
+namespace std {
+namespace this_thread {
+template <>
+void sleep_until(const ::aos::monotonic_clock::time_point &end_time) {
+  struct timespec end_time_timespec;
+  ::std::chrono::seconds sec =
+      ::std::chrono::duration_cast<::std::chrono::seconds>(
+          end_time.time_since_epoch());
+  ::std::chrono::nanoseconds nsec =
+      ::std::chrono::duration_cast<::std::chrono::nanoseconds>(
+          end_time.time_since_epoch() - sec);
+  end_time_timespec.tv_sec = sec.count();
+  end_time_timespec.tv_nsec = nsec.count();
+  int returnval;
+  do {
+    returnval = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME,
+                                &end_time_timespec, nullptr);
+    if (returnval != EINTR && returnval != 0) {
+      PLOG(FATAL, "clock_nanosleep(%jd, TIMER_ABSTIME, %p, nullptr) failed",
+           static_cast<uintmax_t>(CLOCK_MONOTONIC), &end_time_timespec);
+    }
+  } while (returnval != 0);
+}
+
+}  // namespace this_thread
+}  // namespace std
+
+
 namespace aos {
+monotonic_clock::time_point monotonic_clock::now() noexcept {
+  struct timespec current_time;
+  if (clock_gettime(CLOCK_MONOTONIC, &current_time) != 0) {
+    PLOG(FATAL, "clock_gettime(%jd, %p) failed",
+         static_cast<uintmax_t>(CLOCK_MONOTONIC), &current_time);
+  }
+  return time_point(::std::chrono::seconds(current_time.tv_sec) +
+                    ::std::chrono::nanoseconds(current_time.tv_nsec));
+}
+
 namespace time {
 
 // State required to enable and use mock time.
diff --git a/aos/common/time.h b/aos/common/time.h
index a176ba0..40b72b0 100644
--- a/aos/common/time.h
+++ b/aos/common/time.h
@@ -7,12 +7,31 @@
 #include <stdint.h>
 
 #include <type_traits>
+#include <chrono>
+#include <thread>
 #include <ostream>
 
 #include "aos/common/type_traits.h"
 #include "aos/common/macros.h"
 
 namespace aos {
+
+class monotonic_clock {
+ public:
+  typedef ::std::chrono::nanoseconds::rep rep;
+  typedef ::std::chrono::nanoseconds::period period;
+  typedef ::std::chrono::nanoseconds duration;
+  typedef ::std::chrono::time_point<monotonic_clock> time_point;
+
+  static monotonic_clock::time_point now() noexcept;
+  static constexpr bool is_steady = true;
+
+  // Returns the epoch (0).
+  static constexpr monotonic_clock::time_point epoch() {
+    return time_point(duration(0));
+  }
+};
+
 namespace time {
 
 // A nice structure for representing times.
@@ -280,4 +299,15 @@
 }  // namespace time
 }  // namespace aos
 
+namespace std {
+namespace this_thread {
+// Template specialization for monotonic_clock, since we can use clock_nanosleep
+// with TIMER_ABSTIME and get very precise absolute time sleeps.
+template <>
+void sleep_until(const ::aos::monotonic_clock::time_point &end_time);
+
+}  // namespace this_thread
+}  // namespace std
+
+
 #endif  // AOS_COMMON_TIME_H_
diff --git a/aos/common/time_test.cc b/aos/common/time_test.cc
index 008b3cf..3ae82ab 100644
--- a/aos/common/time_test.cc
+++ b/aos/common/time_test.cc
@@ -1,5 +1,7 @@
 #include "aos/common/time.h"
 
+#include <thread>
+
 #include "gtest/gtest.h"
 
 #include "aos/common/macros.h"
@@ -256,6 +258,16 @@
   EXPECT_EQ(MACRO_DARG(Time(0, Time::kNSecInSec / 100)), Time::FromRate(100));
 }
 
+// Test the monotonic_clock and sleep_until functions.
+TEST(TimeTest, MonotonicClockSleepAndNow) {
+  monotonic_clock::time_point start = monotonic_clock::now();
+  const auto kSleepTime = ::std::chrono::milliseconds(500);
+  ::std::this_thread::sleep_until(start + kSleepTime);
+  monotonic_clock::time_point end = monotonic_clock::now();
+  EXPECT_GE(end - start, kSleepTime);
+  EXPECT_LT(end - start, kSleepTime + ::std::chrono::milliseconds(200));
+}
+
 }  // namespace testing
 }  // namespace time
 }  // namespace aos
diff --git a/aos/downloader/downloader.bzl b/aos/downloader/downloader.bzl
index a98571a..e5179c9 100644
--- a/aos/downloader/downloader.bzl
+++ b/aos/downloader/downloader.bzl
@@ -5,7 +5,13 @@
     executable = True,
     content = '\n'.join([
       '#!/bin/bash',
-      'cd "${BASH_SOURCE[@]}.runfiles"',
+      'set -e',
+      'cd "${BASH_SOURCE[@]}.runfiles/%s"' % ctx.workspace_name,
+    ] + ['%s %s --dirs %s -- %s "$@"' % (
+       ctx.executable._downloader.short_path,
+       ' '.join([src.short_path for src in d.downloader_srcs]),
+       d.downloader_dir,
+       ctx.attr.default_target) for d in ctx.attr.dirs] + [
       'exec %s %s -- %s "$@"' % (ctx.executable._downloader.short_path,
                                  ' '.join([src.short_path for src in all_files]),
                                  ctx.attr.default_target),
@@ -17,15 +23,26 @@
     content = '\n'.join([f.basename for f in ctx.files.start_srcs]) + '\n',
   )
 
+  to_download = [ctx.outputs._startlist]
+  to_download += all_files
+  for d in ctx.attr.dirs:
+    to_download += d.downloader_srcs
+
   return struct(
     runfiles = ctx.runfiles(
-      files = all_files + ctx.files._downloader + [ctx.outputs._startlist],
+      files = to_download + ctx.files._downloader,
       collect_data = True,
       collect_default = True,
     ),
     files = set([ctx.outputs.executable]),
   )
 
+def _aos_downloader_dir_impl(ctx):
+  return struct(
+    downloader_dir = ctx.attr.dir,
+    downloader_srcs = ctx.files.srcs
+  )
+
 '''Creates a binary which downloads code to a robot.
 
 Running this with `bazel run` will actually download everything.
@@ -34,6 +51,7 @@
 
 Attrs:
   srcs: The files to download. They currently all get shoved into one folder.
+  dirs: A list of aos_downloader_dirs to download too.
   start_srcs: Like srcs, except they also get put into start_list.txt.
   default_target: The default host to download to. If not specified, defaults to
                   roboRIO-971.local.
@@ -54,6 +72,13 @@
       mandatory = True,
       allow_files = True,
     ),
+    'dirs': attr.label_list(
+      mandatory = False,
+      providers = [
+        'downloader_dir',
+        'downloader_srcs',
+      ]
+    ),
     'default_target': attr.string(
       default = 'roboRIO-971-frc.local',
     ),
@@ -63,3 +88,26 @@
     '_startlist': '%{name}.start_list.dir/start_list.txt',
   },
 )
+
+'''Downloads files to a specific directory.
+
+This rule does nothing by itself. Use it by adding to the dirs attribute of an
+aos_downloader rule.
+
+Attrs:
+  srcs: The files to download. They all go in the same directory.
+  dir: The directory (relative to the standard download directory) to put all
+       the files in.
+'''
+aos_downloader_dir = rule(
+  implementation = _aos_downloader_dir_impl,
+  attrs = {
+    'srcs': attr.label_list(
+      mandatory = True,
+      allow_files = True,
+    ),
+    'dir': attr.string(
+       mandatory = True,
+    ),
+  },
+)
diff --git a/aos/downloader/downloader.py b/aos/downloader/downloader.py
index 5cdd94e..9799b1f 100644
--- a/aos/downloader/downloader.py
+++ b/aos/downloader/downloader.py
@@ -23,9 +23,19 @@
 
 
 def main(argv):
-  srcs = argv[1:argv.index('--')]
   args = argv[argv.index('--') + 1:]
 
+  relative_dir = ''
+  recursive = False
+
+  if '--dirs' in argv:
+    dirs_index = argv.index('--dirs')
+    srcs = argv[1:dirs_index]
+    relative_dir = argv[dirs_index + 1]
+    recursive = True
+  else:
+    srcs = argv[1:argv.index('--')]
+
   ROBORIO_TARGET_DIR = '/home/admin/robot_code'
   ROBORIO_USER = 'admin'
 
@@ -47,7 +57,7 @@
   ssh_target = '%s@%s' % (user, hostname)
 
   rsync_cmd = (['rsync', '-c', '-v', '-z', '--copy-links'] + srcs +
-               ['%s:%s' % (ssh_target, target_dir)])
+               ['%s:%s/%s' % (ssh_target, target_dir, relative_dir)])
   try:
     subprocess.check_call(rsync_cmd)
   except subprocess.CalledProcessError as e:
@@ -60,12 +70,13 @@
     else:
       raise e
 
-  subprocess.check_call(
-      ('ssh', ssh_target, '&&'.join([
-          'chmod u+s %s/starter_exe' % target_dir,
-          'echo \'Done moving new executables into place\'',
-          'bash -c \'sync && sync && sync\'',
-        ])))
+  if not recursive:
+    subprocess.check_call(
+        ('ssh', ssh_target, '&&'.join([
+            'chmod u+s %s/starter_exe' % target_dir,
+            'echo \'Done moving new executables into place\'',
+            'bash -c \'sync && sync && sync\'',
+          ])))
 
 if __name__ == '__main__':
   main(sys.argv)
diff --git a/aos/linux_code/ipc_lib/BUILD b/aos/linux_code/ipc_lib/BUILD
index 98aca55..95b30ce 100644
--- a/aos/linux_code/ipc_lib/BUILD
+++ b/aos/linux_code/ipc_lib/BUILD
@@ -8,6 +8,9 @@
   hdrs = [
     'aos_sync.h',
   ],
+  linkopts = [
+    '-pthread',
+  ],
   deps = [
     '//aos/common/logging',
     '//aos/common:once',
diff --git a/aos/linux_code/ipc_lib/aos_sync.cc b/aos/linux_code/ipc_lib/aos_sync.cc
index b4b32ad..92eb1a1 100644
--- a/aos/linux_code/ipc_lib/aos_sync.cc
+++ b/aos/linux_code/ipc_lib/aos_sync.cc
@@ -33,7 +33,7 @@
 
 using ::aos::linux_code::ipc_lib::FutexAccessorObserver;
 
-// This code was originally based on <http://www.akkadia.org/drepper/futex.pdf>,
+// This code was originally based on <https://www.akkadia.org/drepper/futex.pdf>,
 // but is has since evolved a lot. However, that still has useful information.
 //
 // Finding information about actually using futexes is really REALLY hard, so
diff --git a/aos/testing/BUILD b/aos/testing/BUILD
index 8656d23..a8dce04 100644
--- a/aos/testing/BUILD
+++ b/aos/testing/BUILD
@@ -72,3 +72,15 @@
   ],
   testonly = True,
 )
+
+cc_library(
+  name = 'random_seed',
+  visibility = ['//visibility:public'],
+  srcs = [
+    'random_seed.cc',
+  ],
+  hdrs = [
+    'random_seed.h',
+  ],
+  testonly = True,
+)
diff --git a/aos/testing/random_seed.cc b/aos/testing/random_seed.cc
new file mode 100644
index 0000000..9e7136f
--- /dev/null
+++ b/aos/testing/random_seed.cc
@@ -0,0 +1,17 @@
+#include "aos/testing/random_seed.h"
+
+#include <stdlib.h>
+
+namespace aos {
+namespace testing {
+
+int RandomSeed() {
+  const char *from_environment = getenv("TEST_RANDOM_SEED");
+  if (from_environment != nullptr) {
+    return atoi(from_environment);
+  }
+  return 1;
+}
+
+}  // namespace testing
+}  // namespace aos
diff --git a/aos/testing/random_seed.h b/aos/testing/random_seed.h
new file mode 100644
index 0000000..825e7b1
--- /dev/null
+++ b/aos/testing/random_seed.h
@@ -0,0 +1,15 @@
+#ifndef AOS_TESTING_RANDOM_SEED_H_
+#define AOS_TESTING_RANDOM_SEED_H_
+
+namespace aos {
+namespace testing {
+
+// Returns the random seed to use for testing.
+//
+// This is ${TEST_RANDOM_SEED} if it is set or 1.
+int RandomSeed();
+
+}  // namespace testing
+}  // namespace aos
+
+#endif  // AOS_TESTING_RANDOM_SEED_H_
diff --git a/debian/slycot.BUILD b/debian/slycot.BUILD
index 64eb358..55274b1 100644
--- a/debian/slycot.BUILD
+++ b/debian/slycot.BUILD
@@ -66,15 +66,15 @@
     ':slycot_c',
   ],
   linkopts = ['-shared', '-lblas', '-llapack'],
-  linkstatic=0,
+  linkstatic = False,
 )
 
 # Generate the _wrapper file which loads _fortranwrapper and pretends.
 genrule(
   name = '_wrapper',
   outs = ['slycot/_wrapper.py'],
-  cmd = 'echo "from _fortranwrapper import *" > $(OUTS)',
-  output_to_bindir=1,
+  cmd = 'echo "from external.slycot_repo._fortranwrapper import *" > $(OUTS)',
+  output_to_bindir = True,
 )
 
 # Now present a python library for slycot
diff --git a/doc/make_bazel_package.sh b/doc/make_bazel_package.sh
index 1c10df0..a42acfa 100755
--- a/doc/make_bazel_package.sh
+++ b/doc/make_bazel_package.sh
@@ -10,12 +10,12 @@
 BAZEL_SOURCE="$1"
 
 VERSION="$(date +%Y%m%d%H%M)+$(GIT_DIR="${BAZEL_SOURCE}/.git" git rev-parse --short HEAD)"
-DEB="bazel_${VERSION}.deb"
+DEB="bazel_${VERSION}_amd64.deb"
 
 "${BAZEL_SOURCE}/compile.sh" compile
 (
 cd "${BAZEL_SOURCE}"
-./output/bazel build //scripts/packages:bazel-debian --embed_label="${VERSION}"
+./output/bazel build -c opt //scripts/packages:bazel-debian --embed_label="${VERSION}"
 )
 
 cp "${BAZEL_SOURCE}/bazel-bin/scripts/packages/bazel-debian.deb" "${DEB}"
diff --git a/frc971/control_loops/BUILD b/frc971/control_loops/BUILD
index 5eeed1d..9dee424 100644
--- a/frc971/control_loops/BUILD
+++ b/frc971/control_loops/BUILD
@@ -59,6 +59,7 @@
 
 cc_library(
   name = 'position_sensor_sim',
+  testonly = True,
   srcs = [
     'position_sensor_sim.cc',
   ],
@@ -69,6 +70,7 @@
     ':queues',
     ':gaussian_noise',
     '//debian:libm',
+    '//aos/testing:random_seed',
   ],
 )
 
diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index 72a32cc..05fc4a3 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -93,6 +93,32 @@
   ],
 )
 
+genrule(
+  name = 'genrule_down_estimator',
+  visibility = ['//visibility:private'],
+  cmd = '$(location //frc971/control_loops/python:down_estimator) $(OUTS)',
+  tools = [
+    '//frc971/control_loops/python:down_estimator',
+  ],
+  outs = [
+    'down_estimator.h',
+    'down_estimator.cc',
+  ],
+)
+
+cc_library(
+  name = 'down_estimator',
+  hdrs = [
+    'down_estimator.h',
+  ],
+  srcs = [
+    'down_estimator.cc',
+  ],
+  deps = [
+    '//frc971/control_loops:state_feedback_loop',
+  ],
+)
+
 cc_library(
   name = 'drivetrain_lib',
   srcs = [
@@ -102,12 +128,14 @@
     'drivetrain.h',
   ],
   deps = [
+    ':down_estimator',
     ':drivetrain_queue',
     ':gear',
     ':polydrivetrain',
     ':ssdrivetrain',
     '//aos/common/controls:control_loop',
     '//frc971/queues:gyro',
+    '//frc971/wpilib:imu_queue',
     '//aos/common/util:log_interval',
     '//aos/common/logging:queue_logging',
     '//aos/common/logging:matrix_logging',
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index b4c04a3..f2b14a9 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -13,9 +13,11 @@
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/drivetrain/polydrivetrain.h"
 #include "frc971/control_loops/drivetrain/ssdrivetrain.h"
+#include "frc971/control_loops/drivetrain/down_estimator.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
 #include "frc971/queues/gyro.q.h"
 #include "frc971/shifter_hall_effect.h"
+#include "frc971/wpilib/imu.q.h"
 
 using frc971::sensors::gyro_reading;
 
@@ -32,11 +34,13 @@
       kf_(dt_config_.make_kf_drivetrain_loop()),
       dt_openloop_(dt_config_, &kf_),
       dt_closedloop_(dt_config_, &kf_, &integrated_kf_heading_),
+      down_estimator_(MakeDownEstimatorLoop()),
       left_gear_(dt_config_.default_high_gear ? Gear::HIGH : Gear::LOW),
       right_gear_(dt_config_.default_high_gear ? Gear::HIGH : Gear::LOW),
       left_high_requested_(dt_config_.default_high_gear),
       right_high_requested_(dt_config_.default_high_gear) {
   ::aos::controls::HPolytope<0>::Init();
+  down_U_.setZero();
 }
 
 int DrivetrainLoop::ControllerIndexFromGears() {
@@ -76,6 +80,11 @@
     const ::frc971::control_loops::DrivetrainQueue::Position *position,
     ::frc971::control_loops::DrivetrainQueue::Output *output,
     ::frc971::control_loops::DrivetrainQueue::Status *status) {
+  if (!has_been_enabled_ && output) {
+    has_been_enabled_ = true;
+    down_estimator_.mutable_X_hat(1, 0) = 0.0;
+  }
+
   // TODO(austin): Put gear detection logic here.
   switch (dt_config_.shifter_type) {
     case ShifterType::SIMPLE_SHIFTER:
@@ -111,6 +120,36 @@
     LOG_STRUCT(DEBUG, "state", gear_logging);
   }
 
+  if (::frc971::imu_values.FetchLatest()) {
+    const double rate = -::frc971::imu_values->gyro_y;
+    const double accel_squared = ::frc971::imu_values->accelerometer_x *
+                                     ::frc971::imu_values->accelerometer_x +
+                                 ::frc971::imu_values->accelerometer_y *
+                                     ::frc971::imu_values->accelerometer_y +
+                                 ::frc971::imu_values->accelerometer_z *
+                                     ::frc971::imu_values->accelerometer_z;
+    const double angle = ::std::atan2(::frc971::imu_values->accelerometer_x,
+                                      ::frc971::imu_values->accelerometer_z) +
+                         0.008;
+    if (accel_squared > 1.03 || accel_squared < 0.97) {
+      LOG(DEBUG, "New IMU value, rejecting reading\n");
+    } else {
+      // -y is our gyro.
+      // z accel is down
+      // x accel is the front of the robot pointed down.
+      Eigen::Matrix<double, 1, 1> Y;
+      Y << angle;
+      down_estimator_.Correct(Y);
+    }
+
+    LOG(DEBUG,
+        "New IMU value from ADIS16448, rate is %f, angle %f, fused %f, bias "
+        "%f\n",
+        rate, angle, down_estimator_.X_hat(0, 0), down_estimator_.X_hat(1, 0));
+    down_U_ << rate;
+  }
+  down_estimator_.UpdateObserver(down_U_);
+
   // TODO(austin): Signal the current gear to both loops.
 
   if (gyro_reading.FetchLatest()) {
@@ -186,6 +225,7 @@
     status->right_voltage_error = kf_.X_hat(5, 0);
     status->estimated_angular_velocity_error = kf_.X_hat(6, 0);
     status->estimated_heading = integrated_kf_heading_;
+    status->ground_angle = down_estimator_.X_hat(0, 0) + dt_config_.down_offset;
 
     dt_openloop_.PopulateStatus(status);
     dt_closedloop_.PopulateStatus(status);
diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
index a9541b7..1330708 100644
--- a/frc971/control_loops/drivetrain/drivetrain.h
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -48,6 +48,9 @@
   PolyDrivetrain dt_openloop_;
   DrivetrainMotorsSS dt_closedloop_;
 
+  StateFeedbackLoop<2, 1, 1> down_estimator_;
+  Eigen::Matrix<double, 1, 1> down_U_;
+
   // Current gears for each drive side.
   Gear left_gear_;
   Gear right_gear_;
@@ -59,6 +62,8 @@
 
   bool left_high_requested_;
   bool right_high_requested_;
+
+  bool has_been_enabled_ = false;
 };
 
 }  // namespace drivetrain
diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
index 4723aef..da4fadc 100644
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -141,6 +141,9 @@
 
     // True if the output voltage was capped last cycle.
     bool output_was_capped;
+
+    // The angle of the robot relative to the ground.
+    double ground_angle;
   };
 
   queue Goal goal;
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index a0b6ac0..ea76ca9 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -48,6 +48,8 @@
   // Variable that holds the default gear ratio. We use this in ZeroOutputs().
   // (ie. true means high gear is default).
   bool default_high_gear;
+
+  double down_offset;
 };
 
 }  // namespace drivetrain
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index f2c4638..aa18aec 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -49,7 +49,7 @@
 
       ::y2016::control_loops::drivetrain::kHighGearRatio,
       ::y2016::control_loops::drivetrain::kLowGearRatio,
-      kThreeStateDriveShifter, kThreeStateDriveShifter, false};
+      kThreeStateDriveShifter, kThreeStateDriveShifter, false, 0};
 
   return kDrivetrainConfig;
 };
@@ -256,7 +256,7 @@
       .left_goal(-1.0)
       .right_goal(1.0)
       .Send();
-  RunForTime(Time::InSeconds(1.0));
+  RunForTime(Time::InSeconds(2.0));
   VerifyNearGoal();
 }
 
diff --git a/frc971/control_loops/drivetrain/polydrivetrain.cc b/frc971/control_loops/drivetrain/polydrivetrain.cc
index 2383c83..121a231 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.cc
+++ b/frc971/control_loops/drivetrain/polydrivetrain.cc
@@ -112,7 +112,7 @@
   const bool quickturn = goal.quickturn;
   const bool highgear = goal.highgear;
 
-  const double kWheelNonLinearity = 0.55;
+  const double kWheelNonLinearity = 0.25;
   // Apply a sin function that's scaled to make it feel better.
   const double angular_range = M_PI_2 * kWheelNonLinearity;
 
diff --git a/frc971/control_loops/position_sensor_sim.cc b/frc971/control_loops/position_sensor_sim.cc
index caa383e..6075155 100644
--- a/frc971/control_loops/position_sensor_sim.cc
+++ b/frc971/control_loops/position_sensor_sim.cc
@@ -70,6 +70,11 @@
     index_count_++;
   }
 
+  if (new_index_segment != cur_index_segment_) {
+    latched_pot_ = pot_noise_.AddNoiseToSample(cur_index_ * index_diff_ +
+                                               known_index_pos_);
+  }
+
   cur_index_segment_ = new_index_segment;
   cur_pos_ = new_pos;
 }
@@ -86,7 +91,7 @@
     double index_pulse_position = cur_index_ * index_diff_ + known_index_pos_;
 
     // Populate the latched pot/encoder samples.
-    values->latched_pot = pot_noise_.AddNoiseToSample(index_pulse_position);
+    values->latched_pot = latched_pot_;
     values->latched_encoder = index_pulse_position - start_position_;
   }
 
diff --git a/frc971/control_loops/position_sensor_sim.h b/frc971/control_loops/position_sensor_sim.h
index 6c1884d..3ce3056 100644
--- a/frc971/control_loops/position_sensor_sim.h
+++ b/frc971/control_loops/position_sensor_sim.h
@@ -1,6 +1,8 @@
 #ifndef FRC971_CONTROL_LOOPS_POSITION_SENSOR_SIM_H_
 #define FRC971_CONTROL_LOOPS_POSITION_SENSOR_SIM_H_
 
+#include "aos/testing/random_seed.h"
+
 #include "frc971/control_loops/control_loops.q.h"
 #include "frc971/control_loops/gaussian_noise.h"
 
@@ -18,7 +20,8 @@
   // noise_seed: The seed to feed into the random number generator for the
   //             potentiometer values.
   // TODO(danielp): Allow for starting with a non-zero encoder value.
-  PositionSensorSimulator(double index_diff, unsigned int noise_seed = 0);
+  PositionSensorSimulator(double index_diff, unsigned int noise_seed =
+                                                 ::aos::testing::RandomSeed());
 
   // Set new parameters for the sensors. This is useful for unit tests to change
   // the simulated sensors' behavior on the fly.
@@ -57,6 +60,8 @@
   int cur_index_;
   // How many index pulses we've seen.
   int index_count_;
+  // The pot position at the most recent index pulse with noise added.
+  double latched_pot_;
   // Distance between index pulses on the mechanism.
   double index_diff_;
   // Absolute position of a known index pulse.
diff --git a/frc971/control_loops/position_sensor_sim_test.cc b/frc971/control_loops/position_sensor_sim_test.cc
index 0c9d3a9..1ca5033 100644
--- a/frc971/control_loops/position_sensor_sim_test.cc
+++ b/frc971/control_loops/position_sensor_sim_test.cc
@@ -150,5 +150,50 @@
   EXPECT_DOUBLE_EQ(index_diff * 1.25, position.latched_encoder);
 }
 
+// Tests that the latched values update correctly.
+TEST_F(PositionSensorSimTest, LatchedValues) {
+  const double index_diff = 0.5;
+  PositionSensorSimulator sim(index_diff);
+  sim.Initialize(0, 0.25);
+  PotAndIndexPosition position;
+
+  sim.MoveTo(0.75 * index_diff);
+  sim.GetSensorValues(&position);
+  EXPECT_EQ(0u, position.index_pulses);
+
+  sim.MoveTo(1.75 * index_diff);
+  sim.GetSensorValues(&position);
+  EXPECT_EQ(1u, position.index_pulses);
+  EXPECT_NEAR(index_diff, position.latched_pot, 0.75);
+  EXPECT_DOUBLE_EQ(index_diff, position.latched_encoder);
+  const double first_latched_pot = position.latched_pot;
+
+  sim.MoveTo(1.95 * index_diff);
+  sim.GetSensorValues(&position);
+  EXPECT_EQ(1u, position.index_pulses);
+  EXPECT_NEAR(index_diff, position.latched_pot, 0.75);
+  EXPECT_DOUBLE_EQ(first_latched_pot, position.latched_pot);
+  EXPECT_DOUBLE_EQ(index_diff, position.latched_encoder);
+
+  sim.MoveTo(2.05 * index_diff);
+  sim.GetSensorValues(&position);
+  EXPECT_EQ(2u, position.index_pulses);
+  EXPECT_NEAR(index_diff * 2, position.latched_pot, 0.75);
+  EXPECT_DOUBLE_EQ(index_diff * 2, position.latched_encoder);
+
+  sim.MoveTo(1.95 * index_diff);
+  sim.GetSensorValues(&position);
+  EXPECT_EQ(3u, position.index_pulses);
+  EXPECT_NEAR(index_diff * 2, position.latched_pot, 0.75);
+  EXPECT_DOUBLE_EQ(index_diff * 2, position.latched_encoder);
+
+  sim.MoveTo(0.95 * index_diff);
+  sim.GetSensorValues(&position);
+  EXPECT_EQ(4u, position.index_pulses);
+  EXPECT_NEAR(index_diff, position.latched_pot, 0.75);
+  EXPECT_GT(::std::abs(first_latched_pot - position.latched_pot), 0.005);
+  EXPECT_DOUBLE_EQ(index_diff, position.latched_encoder);
+}
+
 }  // namespace control_loops
 }  // namespace frc971
diff --git a/frc971/control_loops/python/BUILD b/frc971/control_loops/python/BUILD
index d172983..897738a 100644
--- a/frc971/control_loops/python/BUILD
+++ b/frc971/control_loops/python/BUILD
@@ -26,3 +26,13 @@
     ':controls',
   ],
 )
+
+py_binary(
+  name = 'down_estimator',
+  srcs = [
+    'down_estimator.py',
+  ],
+  deps = [
+    ':controls',
+  ],
+)
diff --git a/frc971/control_loops/python/down_estimator.py b/frc971/control_loops/python/down_estimator.py
new file mode 100644
index 0000000..6db8f34
--- /dev/null
+++ b/frc971/control_loops/python/down_estimator.py
@@ -0,0 +1,121 @@
+#!/usr/bin/python
+
+import math
+import sys
+import random
+
+import numpy
+import gflags
+import glog
+from matplotlib import pylab
+
+from frc971.control_loops.python import controls
+from frc971.control_loops.python import control_loop
+
+FLAGS = gflags.FLAGS
+
+gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+
+class DownEstimator(control_loop.ControlLoop):
+  def __init__(self, name='DownEstimator'):
+    super(DownEstimator, self).__init__(name)
+    self.dt = 0.005
+
+    # State is [gyro_angle, bias].
+    # U is [gyro_x_velocity].
+
+    self.A_continuous = numpy.matrix([[0, 1],
+                                      [0, 0]])
+
+    self.B_continuous = numpy.matrix([[1],
+                                      [0]])
+
+    self.A, self.B = self.ContinuousToDiscrete(
+        self.A_continuous, self.B_continuous, self.dt)
+
+    q_gyro_noise = 1e-6
+    q_gyro_bias_noise = 1e-3
+    self.Q = numpy.matrix([[1.0 / (q_gyro_noise ** 2.0), 0.0],
+                           [0.0, 1.0 / (q_gyro_bias_noise ** 2.0)]])
+
+    r_accelerometer_angle_noise = 5e+7
+    self.R = numpy.matrix([[(r_accelerometer_angle_noise ** 2.0)]])
+
+    self.C = numpy.matrix([[1.0, 0.0]])
+    self.D = numpy.matrix([[0]])
+
+    self.U_max = numpy.matrix([[numpy.pi]])
+    self.U_min = numpy.matrix([[-numpy.pi]])
+    self.K = numpy.matrix(numpy.zeros((1, 2)))
+
+    self.KalmanGain, self.Q_steady = controls.kalman(
+        A=self.A, B=self.B, C=self.C, Q=self.Q, R=self.R)
+
+    self.L = self.A * self.KalmanGain
+
+    self.InitializeState()
+
+  def Update(self, accelerometer_x, accelerometer_y, accelerometer_z, gyro_x):
+    acceleration = math.sqrt(
+        accelerometer_x**2 + accelerometer_y**2 + accelerometer_z**2)
+    if acceleration < 0.9 or acceleration > 1.1:
+      glog.error('bad total acceleration %f' % acceleration)
+      # TODO(Brian): Tune this?
+      return
+    accelerometer_angle = math.atan2(accelerometer_x, accelerometer_z)
+    Z = numpy.matrix([[accelerometer_angle], [gyro_x]])
+
+    Y = Z - self.H * self.X_hat
+    S = self.H * self.P * self.H.transpose() + self.R
+    K = self.P * self.H.transpose() * numpy.linalg.inv(S)
+    self.X_hat += K * Y
+    self.P = (numpy.identity(K.shape[0]) - K * self.H) * self.P
+
+def main(argv):
+  argv = FLAGS(argv)
+  glog.init()
+
+  estimator = DownEstimator()
+
+  if FLAGS.plot:
+    real_angles = [0]
+    real_velocities = [0]
+    estimated_angles = [0]
+    estimated_velocities = [0]
+    for _ in xrange(100):
+      estimator.Predict(0)
+      estimator.Update(numpy.sqrt(2) / 2.0, numpy.sqrt(2) / 2.0, 0, 0)
+      real_angles.append(math.pi / 2)
+      real_velocities.append(0)
+      estimated_angles.append(estimator.X_hat[0, 0])
+      estimated_velocities.append(estimator.X_hat[1, 0])
+    angle = math.pi / 2
+    velocity = 1
+    for i in xrange(100):
+      measured_velocity = velocity + (random.random() - 0.5) * 0.01 + 0.05
+      estimator.Predict(measured_velocity)
+      estimator.Update(math.sin(angle) + (random.random() - 0.5) * 0.02, 0,
+                       math.cos(angle) + (random.random() - 0.5) * 0.02,
+                       measured_velocity)
+      real_angles.append(angle)
+      real_velocities.append(velocity)
+      estimated_angles.append(estimator.X_hat[0, 0])
+      estimated_velocities.append(estimator.X_hat[1, 0])
+      angle += velocity * estimator.dt
+    pylab.plot(range(len(real_angles)), real_angles)
+    pylab.plot(range(len(real_velocities)), real_velocities)
+    pylab.plot(range(len(estimated_angles)), estimated_angles)
+    pylab.plot(range(len(estimated_velocities)), estimated_velocities)
+    pylab.show()
+
+  if len(argv) != 3:
+    print "Expected .h file name and .cc file name"
+  else:
+    namespaces = ['frc971', 'control_loops', 'drivetrain']
+    kf_loop_writer = control_loop.ControlLoopWriter(
+        "DownEstimator", [estimator],
+        namespaces = namespaces)
+    kf_loop_writer.Write(argv[1], argv[2])
+
+if __name__ == '__main__':
+  sys.exit(main(sys.argv))
diff --git a/frc971/wpilib/ADIS16448.cc b/frc971/wpilib/ADIS16448.cc
index d834f33..cf1a6f8 100644
--- a/frc971/wpilib/ADIS16448.cc
+++ b/frc971/wpilib/ADIS16448.cc
@@ -7,10 +7,12 @@
 #include <math.h>
 
 #include "aos/common/logging/queue_logging.h"
+#include "aos/common/messages/robot_state.q.h"
 #include "aos/common/time.h"
 #include "aos/linux_code/init.h"
 
 #include "frc971/wpilib/imu.q.h"
+#include "frc971/zeroing/averager.h"
 
 namespace frc971 {
 namespace wpilib {
@@ -40,16 +42,17 @@
 constexpr uint8_t kProdIdAddress = 0x56;
 constexpr uint8_t kSerialNumberAddress = 0x58;
 
-// LSB/degree/second for the gyros.
-constexpr double kGyroLsbDegreeSecond = 25;
-// LSB/G for the accelerometers.
-constexpr double kAccelerometerLsbG = 1200;
-// LSB/gauss for the magnetometers.
-constexpr double kMagnetometerLsbGauss = 7.0 / 1000.0 /* mgauss to gauss */;
-// LSB/bar for the barometer.
-constexpr double kBarometerLsbPascal = 1.0 / (20.0 / 10 /* ubar to pascals */);
-// LSB/degree C for the temperature sensor.
-constexpr double kTemperatureLsbDegree = 1.0 / 0.07386;
+// degree/second/LSB for the gyros.
+constexpr double kGyroLsbDegreeSecond = 1.0 / 25.0;
+// G/LSB for the accelerometers.
+constexpr double kAccelerometerLsbG = 1.0 / 1200.0;
+// gauss/LSB for the magnetometers.
+constexpr double kMagnetometerLsbGauss =
+    1.0 / (7.0 / 1000.0) /* mgauss to gauss */;
+// bar/LSB for the barometer.
+constexpr double kBarometerLsbPascal = 0.02 * 100;
+// degree/LSB C for the temperature sensor.
+constexpr double kTemperatureLsbDegree = 0.07386;
 // Degrees C corresponding to 0 for the temperature sensor.
 constexpr double kTemperatureZero = 31;
 
@@ -129,6 +132,13 @@
   }
   LOG(INFO, "IMU initialized successfully\n");
 
+  // Rounded to approximate the 204.8 Hz.
+  constexpr size_t kImuSendRate = 205;
+
+  zeroing::Averager<double, 6 * kImuSendRate> average_gyro_x;
+  zeroing::Averager<double, 6 * kImuSendRate> average_gyro_y;
+  zeroing::Averager<double, 6 * kImuSendRate> average_gyro_z;
+
   bool got_an_interrupt = false;
   while (run_) {
     {
@@ -142,10 +152,10 @@
     got_an_interrupt = true;
     const ::aos::time::Time read_time = ::aos::time::Time::Now();
 
-    uint8_t to_send[8 * 2 * 14], to_receive[8 * 2 * 14];
+    uint8_t to_send[2 * 14], to_receive[2 * 14];
+    memset(&to_send[0], 0, sizeof(to_send));
     to_send[0] = kGlobalReadAddress;
-    memset(&to_send[1], 0, sizeof(to_send) - 1);
-    if (!DoTransaction<8 * 2 * 14>(to_send, to_receive)) continue;
+    if (!DoTransaction<2 * 14>(to_send, to_receive)) continue;
 
     // If it's false now or another edge happened, then we're in trouble. This
     // won't catch all instances of being a little bit slow (because of the
@@ -161,8 +171,8 @@
 
     {
       const uint16_t calculated_crc = CalculateCrc(&to_receive[4], 11);
-      uint16_t received_crc;
-      memcpy(&received_crc, &to_receive[13], 2);
+      uint16_t received_crc =
+          to_receive[13 * 2 + 1] | (to_receive[13 * 2] << 8);
       if (received_crc != calculated_crc) {
         LOG(WARNING, "received CRC %" PRIx16 " but calculated %" PRIx16 "\n",
             received_crc, calculated_crc);
@@ -172,7 +182,7 @@
 
     {
       uint16_t diag_stat;
-      memcpy(&diag_stat, &to_receive[1], 2);
+      memcpy(&diag_stat, &to_receive[2], 2);
       if (!CheckDiagStatValue(diag_stat)) continue;
     }
 
@@ -181,28 +191,57 @@
     message->monotonic_timestamp_ns = read_time.ToNSec();
 
     message->gyro_x =
-        ConvertValue(&to_receive[2], kGyroLsbDegreeSecond) * (M_PI / 2.0);
+        ConvertValue(&to_receive[4], kGyroLsbDegreeSecond * M_PI / 180.0);
     message->gyro_y =
-        ConvertValue(&to_receive[3], kGyroLsbDegreeSecond) * (M_PI / 2.0);
+        ConvertValue(&to_receive[6], kGyroLsbDegreeSecond * M_PI / 180.0);
     message->gyro_z =
-        ConvertValue(&to_receive[4], kGyroLsbDegreeSecond) * (M_PI / 2.0);
+        ConvertValue(&to_receive[8], kGyroLsbDegreeSecond * M_PI / 180.0);
 
-    message->accelerometer_x = ConvertValue(&to_receive[5], kAccelerometerLsbG);
-    message->accelerometer_y = ConvertValue(&to_receive[6], kAccelerometerLsbG);
-    message->accelerometer_z = ConvertValue(&to_receive[7], kAccelerometerLsbG);
+    // The first few seconds of samples are averaged and subtracted from
+    // subsequent samples for zeroing purposes.
+    if (!gyros_are_zeroed_) {
+      average_gyro_x.AddData(message->gyro_x);
+      average_gyro_y.AddData(message->gyro_y);
+      average_gyro_z.AddData(message->gyro_z);
+
+      if (average_gyro_x.full() && average_gyro_y.full() &&
+          average_gyro_z.full()) {
+        ::aos::joystick_state.FetchLatest();
+        if (::aos::joystick_state.get() && ::aos::joystick_state->enabled) {
+          gyro_x_zeroed_offset_ = -average_gyro_x.GetAverage();
+          gyro_y_zeroed_offset_ = -average_gyro_y.GetAverage();
+          gyro_z_zeroed_offset_ = -average_gyro_z.GetAverage();
+          LOG(INFO, "total gyro zero offset X:%f, Y:%f, Z:%f\n",
+              gyro_x_zeroed_offset_, gyro_y_zeroed_offset_,
+              gyro_z_zeroed_offset_);
+          gyros_are_zeroed_ = true;
+        }
+      }
+    }
+
+    message->gyro_x += gyro_x_zeroed_offset_;
+    message->gyro_y += gyro_y_zeroed_offset_;
+    message->gyro_z += gyro_z_zeroed_offset_;
+
+    message->accelerometer_x =
+        ConvertValue(&to_receive[10], kAccelerometerLsbG);
+    message->accelerometer_y =
+        ConvertValue(&to_receive[12], kAccelerometerLsbG);
+    message->accelerometer_z =
+        ConvertValue(&to_receive[14], kAccelerometerLsbG);
 
     message->magnetometer_x =
-        ConvertValue(&to_receive[8], kMagnetometerLsbGauss);
+        ConvertValue(&to_receive[16], kMagnetometerLsbGauss);
     message->magnetometer_y =
-        ConvertValue(&to_receive[9], kMagnetometerLsbGauss);
+        ConvertValue(&to_receive[18], kMagnetometerLsbGauss);
     message->magnetometer_z =
-        ConvertValue(&to_receive[10], kMagnetometerLsbGauss);
+        ConvertValue(&to_receive[20], kMagnetometerLsbGauss);
 
     message->barometer =
-        ConvertValue(&to_receive[11], kBarometerLsbPascal, false);
+        ConvertValue(&to_receive[22], kBarometerLsbPascal, false);
 
     message->temperature =
-        ConvertValue(&to_receive[12], kTemperatureLsbDegree) + kTemperatureZero;
+        ConvertValue(&to_receive[24], kTemperatureLsbDegree) + kTemperatureZero;
 
     LOG_STRUCT(DEBUG, "sending", *message);
     if (!message.Send()) {
@@ -214,12 +253,12 @@
 float ADIS16448::ConvertValue(uint8_t *data, double lsb_per_output, bool sign) {
   double value;
   if (sign) {
-    int16_t raw_value;
-    memcpy(&raw_value, data, 2);
+    int16_t raw_value = static_cast<int16_t>(
+        (static_cast<uint16_t>(data[0]) << 8) | static_cast<uint16_t>(data[1]));
     value = raw_value;
   } else {
-    uint16_t raw_value;
-    memcpy(&raw_value, data, 2);
+    uint16_t raw_value =
+        (static_cast<uint16_t>(data[0]) << 8) | static_cast<uint16_t>(data[1]);
     value = raw_value;
   }
   return value * lsb_per_output;
@@ -232,7 +271,9 @@
 
   if (!DoTransaction<2>(to_send, to_receive)) return false;
 
-  if (value) memcpy(value, to_receive, 2);
+  if (value) {
+    memcpy(value, to_receive, 2);
+  }
   return true;
 }
 
@@ -248,12 +289,6 @@
 
 bool ADIS16448::CheckDiagStatValue(uint16_t value) const {
   bool r = true;
-  if (value & (1 << 0)) {
-    LOG(WARNING, "IMU gave magnetometer functional test failure\n");
-  }
-  if (value & (1 << 1)) {
-    LOG(WARNING, "IMU gave barometer functional test failure\n");
-  }
   if (value & (1 << 2)) {
     LOG(WARNING, "IMU gave flash update failure\n");
   }
@@ -266,6 +301,31 @@
   if (value & (1 << 5)) {
     LOG(WARNING, "IMU gave self-test failure\n");
     r = false;
+    if (value & (1 << 10)) {
+      LOG(WARNING, "IMU gave X-axis gyro self-test failure\n");
+    }
+    if (value & (1 << 11)) {
+      LOG(WARNING, "IMU gave Y-axis gyro self-test failure\n");
+    }
+    if (value & (1 << 12)) {
+      LOG(WARNING, "IMU gave Z-axis gyro self-test failure\n");
+    }
+    if (value & (1 << 13)) {
+      LOG(WARNING, "IMU gave X-axis accelerometer self-test failure\n");
+    }
+    if (value & (1 << 14)) {
+      LOG(WARNING, "IMU gave Y-axis accelerometer self-test failure\n");
+    }
+    if (value & (1 << 15)) {
+      LOG(WARNING, "IMU gave Z-axis accelerometer self-test failure, %x\n",
+          value);
+    }
+    if (value & (1 << 0)) {
+      LOG(WARNING, "IMU gave magnetometer functional test failure\n");
+    }
+    if (value & (1 << 1)) {
+      LOG(WARNING, "IMU gave barometer functional test failure\n");
+    }
   }
   if (value & (1 << 6)) {
     LOG(WARNING, "IMU gave flash test checksum failure\n");
@@ -276,30 +336,6 @@
   if (value & (1 << 9)) {
     LOG(WARNING, "IMU says alarm 2 is active\n");
   }
-  if (value & (1 << 10)) {
-    LOG(WARNING, "IMU gave X-axis gyro self-test failure\n");
-    r = false;
-  }
-  if (value & (1 << 11)) {
-    LOG(WARNING, "IMU gave Y-axis gyro self-test failure\n");
-    r = false;
-  }
-  if (value & (1 << 12)) {
-    LOG(WARNING, "IMU gave Z-axis gyro self-test failure\n");
-    r = false;
-  }
-  if (value & (1 << 13)) {
-    LOG(WARNING, "IMU gave X-axis accelerometer self-test failure\n");
-    r = false;
-  }
-  if (value & (1 << 14)) {
-    LOG(WARNING, "IMU gave Y-axis accelerometer self-test failure\n");
-    r = false;
-  }
-  if (value & (1 << 15)) {
-    LOG(WARNING, "IMU gave Z-axis accelerometer self-test failure\n");
-    r = false;
-  }
   return r;
 }
 
@@ -320,7 +356,7 @@
       serial_number);
 
   // Divide the sampling by 2^2 = 4 to get 819.2 / 4 = 204.8 Hz.
-  if (!WriteRegister(kSmplPrdAddress, 2 << 8)) return false;
+  if (!WriteRegister(kSmplPrdAddress, (2 << 8) | 1)) return false;
 
   // Start a self test.
   if (!WriteRegister(kMscCtrlAddress, 1 << 10)) return false;
@@ -342,8 +378,8 @@
                      ((0 << 0) |  // DIO1
                       (1 << 1) |  // DIO goes high when data is valid
                       (1 << 2) |  // enable DIO changing when data is vald
-                      (1 << 4))   // enable CRC16 for burst mode
-                     )) {
+                      (1 << 4) |  // enable CRC16 for burst mode
+                      (1 << 6)))) {
     return false;
   }
   return true;
diff --git a/frc971/wpilib/ADIS16448.h b/frc971/wpilib/ADIS16448.h
index 778ab49..c8552bf 100644
--- a/frc971/wpilib/ADIS16448.h
+++ b/frc971/wpilib/ADIS16448.h
@@ -37,6 +37,10 @@
 
   void Quit() { run_ = false; }
 
+  double gyro_x_zeroed_offset() const { return gyro_x_zeroed_offset_; }
+  double gyro_y_zeroed_offset() const { return gyro_y_zeroed_offset_; }
+  double gyro_z_zeroed_offset() const { return gyro_z_zeroed_offset_; }
+
  private:
   // Converts a 16-bit value at data to a scaled output value where a value of 1
   // corresponds to lsb_per_output.
@@ -70,6 +74,12 @@
   DigitalInput *const dio1_;
 
   ::std::atomic<bool> run_{true};
+
+  // The averaged values of the gyro over 6 seconds after power up.
+  bool gyros_are_zeroed_ = false;
+  double gyro_x_zeroed_offset_ = 0.0;
+  double gyro_y_zeroed_offset_ = 0.0;
+  double gyro_z_zeroed_offset_ = 0.0;
 };
 
 }  // namespace wpilib
diff --git a/frc971/wpilib/BUILD b/frc971/wpilib/BUILD
index 6ea778a..c01f7cc 100644
--- a/frc971/wpilib/BUILD
+++ b/frc971/wpilib/BUILD
@@ -99,8 +99,9 @@
     'gyro_sender.h',
   ],
   deps = [
-    '//frc971/queues:gyro',
     ':gyro_interface',
+    '//frc971/queues:gyro',
+    '//frc971/zeroing:averager',
     '//aos/common/logging',
     '//aos/common/logging:queue_logging',
     '//aos/common/util:phased_loop',
@@ -225,12 +226,14 @@
     'ADIS16448.cc',
   ],
   deps = [
-    '//third_party/allwpilib_2016:wpilib',
+    ':imu_queue',
     '//aos/common/logging',
     '//aos/common/logging:queue_logging',
+    '//aos/common/messages:robot_state',
     '//aos/common:time',
     '//aos/linux_code:init',
-    ':imu_queue',
+    '//frc971/zeroing:averager',
+    '//third_party/allwpilib_2016:wpilib',
   ],
 )
 
diff --git a/frc971/wpilib/gyro_sender.cc b/frc971/wpilib/gyro_sender.cc
index dd3b3e1..82e9775 100644
--- a/frc971/wpilib/gyro_sender.cc
+++ b/frc971/wpilib/gyro_sender.cc
@@ -10,6 +10,7 @@
 #include "aos/linux_code/init.h"
 
 #include "frc971/queues/gyro.q.h"
+#include "frc971/zeroing/averager.h"
 
 namespace frc971 {
 namespace wpilib {
@@ -35,10 +36,8 @@
 
   int startup_cycles_left = 2 * kReadingRate;
 
-  double zeroing_data[6 * kReadingRate];
-  size_t zeroing_index = 0;
+  zeroing::Averager<double, 6 * kReadingRate> zeroing_data;
   bool zeroed = false;
-  bool have_zeroing_data = false;
   double zero_offset = 0;
 
   ::aos::time::PhasedLoop phased_loop(
@@ -118,22 +117,12 @@
         message->velocity = 0.0;
         message.Send();
       }
-      zeroing_data[zeroing_index] = new_angle;
-      ++zeroing_index;
-      if (zeroing_index >= sizeof(zeroing_data) / sizeof(zeroing_data[0])) {
-        zeroing_index = 0;
-        have_zeroing_data = true;
-      }
+      zeroing_data.AddData(new_angle);
 
       ::aos::joystick_state.FetchLatest();
       if (::aos::joystick_state.get() && ::aos::joystick_state->enabled &&
-          have_zeroing_data) {
-        zero_offset = 0;
-        for (size_t i = 0; i < sizeof(zeroing_data) / sizeof(zeroing_data[0]);
-             ++i) {
-          zero_offset -= zeroing_data[i];
-        }
-        zero_offset /= sizeof(zeroing_data) / sizeof(zeroing_data[0]);
+          zeroing_data.full()) {
+        zero_offset = -zeroing_data.GetAverage();
         LOG(INFO, "total zero offset %f\n", zero_offset);
         zeroed = true;
       }
diff --git a/frc971/zeroing/BUILD b/frc971/zeroing/BUILD
index 8a8d82c..c63d97d 100644
--- a/frc971/zeroing/BUILD
+++ b/frc971/zeroing/BUILD
@@ -2,6 +2,24 @@
 
 load('/aos/build/queues', 'queue_library')
 
+cc_library(
+  name = 'averager',
+  hdrs = [
+    'averager.h',
+  ],
+)
+
+cc_test(
+  name = 'averager_test',
+  srcs = [
+    'averager_test.cc',
+  ],
+  deps = [
+    ':averager',
+    '//aos/testing:googletest',
+  ],
+)
+
 queue_library(
   name = 'zeroing_queue',
   srcs = [
diff --git a/frc971/zeroing/averager.h b/frc971/zeroing/averager.h
new file mode 100644
index 0000000..879c246
--- /dev/null
+++ b/frc971/zeroing/averager.h
@@ -0,0 +1,56 @@
+#ifndef FRC971_ZEROING_AVERAGER_H_
+#define FRC971_ZEROING_AVERAGER_H_
+
+#include <algorithm>
+#include <array>
+#include <stdint.h>
+
+namespace frc971 {
+namespace zeroing {
+
+// Averages a set of given numbers. Numbers are given one at a time. Once full
+// the average may be requested.
+template <typename data_type, size_t data_size>
+class Averager {
+ public:
+  // Adds one data point to the set of data points to be averaged.
+  // If more than "data_size" samples are added, they will start overwriting
+  // the oldest ones.
+  void AddData(data_type data) {
+    data_[data_point_index_] = data;
+    num_data_points_ = ::std::min(data_size, num_data_points_ + 1);
+    data_point_index_ = (data_point_index_ + 1) % data_size;
+  }
+
+  // Returns the average of the data points.
+  data_type GetAverage() const {
+    // TODO(phil): What do we want to do without any elements?
+    if (num_data_points_ == 0) {
+      return 0;
+    }
+
+    data_type average = 0;
+    for (data_type data : data_) {
+      average += data;
+    }
+    return average / num_data_points_;
+  }
+
+  // Returns true when we've gathered data_size data points.
+  bool full() const { return num_data_points_ >= data_size; };
+
+  size_t size() const { return data_size; }
+
+ private:
+  // Data points to be averaged.
+  ::std::array<data_type, data_size> data_;
+  // Which data point in "data_" will be filled in next.
+  size_t data_point_index_ = 0;
+  // Number of data points added via AddData().
+  size_t num_data_points_ = 0;
+};
+
+}  // namespace zeroing
+}  // namespace frc971
+
+#endif  // FRC971_ZEROING_AVERAGER_H_
diff --git a/frc971/zeroing/averager_test.cc b/frc971/zeroing/averager_test.cc
new file mode 100644
index 0000000..930a3cb
--- /dev/null
+++ b/frc971/zeroing/averager_test.cc
@@ -0,0 +1,35 @@
+#include "gtest/gtest.h"
+#include "frc971/zeroing/averager.h"
+
+namespace frc971 {
+namespace zeroing {
+
+class AveragerTest : public ::testing::Test {
+ protected:
+  void SetUp() override {}
+};
+
+// Makes sure that we can compute the average of a bunch of integers.
+TEST_F(AveragerTest, ComputeIntegerAverage) {
+  Averager<int, 6> averager;
+  for (size_t i = 0; i < averager.size(); ++i) {
+    ASSERT_FALSE(averager.full());
+    averager.AddData(static_cast<int>(i));
+  }
+  ASSERT_TRUE(averager.full());
+  ASSERT_EQ(2, averager.GetAverage());
+}
+
+// Makes sure that we can compute the average of a bunch of floats.
+TEST_F(AveragerTest, ComputeFloatAverage) {
+  Averager<float, 100> averager;
+  for (size_t i = 0; i < averager.size(); ++i) {
+    ASSERT_FALSE(averager.full());
+    averager.AddData(static_cast<float>(i) / 3.0);
+  }
+  ASSERT_TRUE(averager.full());
+  ASSERT_NEAR(16.5, averager.GetAverage(), 0.001);
+}
+
+}  // namespace zeroing
+}  // namespace frc971
diff --git a/frc971/zeroing/zeroing.cc b/frc971/zeroing/zeroing.cc
index e8cac6f..4ff6391 100644
--- a/frc971/zeroing/zeroing.cc
+++ b/frc971/zeroing/zeroing.cc
@@ -108,15 +108,15 @@
     // zeroed.
     zeroed_ = true;
     // Throw an error if first_start_pos is bigger/smaller than
-    // allowable_encoder_error_ * index_diff +
-    // start_pos.
+    // allowable_encoder_error_ * index_diff + start_pos.
     if (::std::abs(first_start_pos_ - start_pos_) >
         allowable_encoder_error_ * index_diff_) {
       if (!error_) {
         LOG(ERROR,
             "Encoder ticks out of range since last index pulse. first start "
-            "position: %f recent starting position: %f\n",
-            first_start_pos_, start_pos_);
+            "position: %f recent starting position: %f, allowable error: %f\n",
+            first_start_pos_, start_pos_,
+            allowable_encoder_error_ * index_diff_);
         error_ = true;
       }
     }
diff --git a/frc971/zeroing/zeroing.h b/frc971/zeroing/zeroing.h
index 5216df0..b5e2c14 100644
--- a/frc971/zeroing/zeroing.h
+++ b/frc971/zeroing/zeroing.h
@@ -116,8 +116,8 @@
   // Stores the position "start_pos" variable the first time the program
   // is zeroed.
   double first_start_pos_;
-  // Value between 0 and 1 which determines a fraction of the index_diff
-  // you want to use.
+  // The fraction of index_diff (possibly greater than 1) after which an error
+  // is reported.
   double allowable_encoder_error_;
 };
 
diff --git a/third_party/gperftools/BUILD b/third_party/gperftools/BUILD
index ada8712..4fa332f 100644
--- a/third_party/gperftools/BUILD
+++ b/third_party/gperftools/BUILD
@@ -137,6 +137,9 @@
     '//third_party/empty_config_h',
   ],
   copts = common_copts,
+  linkopts = [
+    '-pthread',
+  ],
   alwayslink = True,
   nocopts = '-std=gnu\+\+1y',
 )
diff --git a/third_party/protobuf/protobuf.bzl b/third_party/protobuf/protobuf.bzl
index 0cc195b..d91cde4 100644
--- a/third_party/protobuf/protobuf.bzl
+++ b/third_party/protobuf/protobuf.bzl
@@ -1,13 +1,13 @@
 # -*- mode: python; -*- PYTHON-PREPROCESSING-REQUIRED
 
 def _GetPath(ctx, path):
-  if str(ctx.label).startswith('@'):
+  if str(ctx.label).startswith('@') and not str(ctx.label).startswith('@//'):
     fail('External labels not supported for now')
   return path
 
 def _GenDir(ctx):
   if not ctx.attr.includes:
-    if str(ctx.label).startswith('@'):
+    if str(ctx.label).startswith('@') and not str(ctx.label).startswith('@//'):
       fail('External labels not supported for now')
     return ''
   if not ctx.attr.includes[0]:
diff --git a/tools/bazel b/tools/bazel
new file mode 100755
index 0000000..963a3e5
--- /dev/null
+++ b/tools/bazel
@@ -0,0 +1,107 @@
+#!/bin/bash
+
+# The bazel script calls this instead of the bazel-real binary which is
+# installed next to it. This script downloads a specific version of Bazel and
+# then calls that.
+
+# Alternatively, if the environment variable BAZEL_OVERRIDE is set, that will be
+# run directly (after printing a message). That is intended for testing only.
+
+# This script operates based on the assumption that any directory of the correct
+# name is a fully extracted, valid Bazel installation. It is careful to avoid
+# putting an invalid directory at that name at any point.
+
+set -e
+set -u
+set -o pipefail
+
+if [[ -n "${BAZEL_OVERRIDE+x}" ]]; then
+  tput setaf 1 >&2
+  echo -n "Actually calling " >&2
+  tput setaf 3 >&2
+  echo "${BAZEL_OVERRIDE}" >&2
+  tput sgr0 >&2
+  exec "${BAZEL_OVERRIDE}" "$@"
+fi
+
+readonly VERSION="201607070016+7a0d360"
+
+readonly DOWNLOAD_DIR="$(dirname "${BASH_SOURCE[0]}")/../bazel-downloads"
+# Directory to unpack bazel into.  This must change whenever bazel changes.
+readonly VERSION_DIR="${DOWNLOAD_DIR}/${VERSION}-v1"
+readonly VERSION_BAZEL="${VERSION_DIR}/usr/bin/bazel"
+
+# Creating might fail if another invocation is racing us.
+if [[ ! -d "${DOWNLOAD_DIR}" ]]; then
+  mkdir "${DOWNLOAD_DIR}" || true
+fi
+if [[ ! -d "${DOWNLOAD_DIR}" ]]; then
+  echo "Failed to create ${DOWNLOAD_DIR}" >&2
+  exit 1
+fi
+
+readonly INSTALLER_NAME="bazel_${VERSION}_amd64.deb"
+readonly DOWNLOAD_URL="http://frc971.org/Build-Dependencies/${INSTALLER_NAME}"
+
+if [[ ! -d "${VERSION_DIR}" ]]; then
+  echo "Downloading Bazel version ${VERSION} from ${DOWNLOAD_URL}..." >&2
+
+  # A temporary directory which is definitely on the same filesystem as our final
+  # destination, which is important so we can atomically move it.
+  # If this move is non-atomic, then a concurrent Bazel command (like the verifier
+  # uses several of) could use a half-copied Bazel installation.
+  TEMP_DIR="$(mktemp --directory --tmpdir="${DOWNLOAD_DIR}")"
+  readonly TEMP_DIR
+
+  ( cd "${TEMP_DIR}"
+    wget "${DOWNLOAD_URL}" -O "${INSTALLER_NAME}" --no-verbose --show-progress
+    echo "Unpacking Bazel version ${VERSION}..." >&2
+    dpkg-deb -x "${INSTALLER_NAME}" extracted
+  )
+
+  touch "${TEMP_DIR}/extracted/usr/bin/bazel.bazelrc"
+
+  # Careful: somebody else might have already done it. If they manage to make
+  # the move between our check and our move, then we'll end up with a random
+  # extracted directory which won't do anybody any harm. If somebody else does
+  # that first, then our move will fail.
+  if [[ ! -d "${VERSION_DIR}" ]]; then
+    mv "${TEMP_DIR}/extracted" "${VERSION_DIR}" || true
+  fi
+  if [[ ! -d "${VERSION_DIR}" ]]; then
+    echo "Failed to create ${VERSION_DIR}" >&2
+    exit 1
+  fi
+  rm -rf "${TEMP_DIR}"
+  echo "Done downloading Bazel version ${VERSION}"
+fi
+
+if [[ -x "${VERSION_BAZEL}-real" ]]; then
+  exec -a "${VERSION_BAZEL}" env -i \
+      HOSTNAME="${HOSTNAME}" \
+      SHELL="${SHELL}" \
+      USER="${USER}" \
+      PATH="${PATH}" \
+      LANG="${LANG}" \
+      HOME="${HOME}" \
+      LOGNAME="${LOGNAME}" \
+      TERM="${TERM}" \
+      DISPLAY="${DISPLAY}" \
+      "${VERSION_BAZEL}-real" "$@"
+fi
+if [[ -x "${VERSION_BAZEL}" ]]; then
+  exec env -i \
+      HOSTNAME="${HOSTNAME}" \
+      SHELL="${SHELL}" \
+      USER="${USER}" \
+      PATH="${PATH}" \
+      LANG="${LANG}" \
+      HOME="${HOME}" \
+      LOGNAME="${LOGNAME}" \
+      TERM="${TERM}" \
+      DISPLAY="${DISPLAY}" \
+      "${VERSION_BAZEL}" "$@"
+fi
+
+echo "Can't find the real bazel!" >&2
+exit 1
diff --git a/y2014/control_loops/drivetrain/drivetrain_base.cc b/y2014/control_loops/drivetrain/drivetrain_base.cc
index 4894a51..96b27a6 100644
--- a/y2014/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_base.cc
@@ -13,6 +13,7 @@
 namespace control_loops {
 
 const DrivetrainConfig &GetDrivetrainConfig() {
+  // TODO(austin): Switch over to using the profile.
   static DrivetrainConfig kDrivetrainConfig{
       ::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
       ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
@@ -31,8 +32,7 @@
       constants::GetValues().left_drive,
       constants::GetValues().right_drive,
       true,
-      // TODO(austin): Switch over to using the profle.
-      false};
+      0};
 
   return kDrivetrainConfig;
 };
diff --git a/y2014/control_loops/drivetrain/drivetrain_main.cc b/y2014/control_loops/drivetrain/drivetrain_main.cc
index 52dafcc..883bdd2 100644
--- a/y2014/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_main.cc
@@ -7,8 +7,7 @@
 
 int main() {
   ::aos::Init();
-  DrivetrainLoop drivetrain =
-      DrivetrainLoop(::y2014::control_loops::GetDrivetrainConfig());
+  DrivetrainLoop drivetrain(::y2014::control_loops::GetDrivetrainConfig());
   drivetrain.Run();
   ::aos::Cleanup();
   return 0;
diff --git a/y2015_bot3/actors/drivetrain_actor.cc b/y2015_bot3/actors/drivetrain_actor.cc
index 32ce93f..5a83626 100644
--- a/y2015_bot3/actors/drivetrain_actor.cc
+++ b/y2015_bot3/actors/drivetrain_actor.cc
@@ -26,7 +26,8 @@
     : aos::common::actions::ActorBase<actors::DrivetrainActionQueueGroup>(s) {}
 
 bool DrivetrainActor::RunAction(const actors::DrivetrainActionParams &params) {
-  static const auto K = ::y2015_bot3::control_loops::MakeDrivetrainLoop().K();
+  static const auto K =
+      ::y2015_bot3::control_loops::drivetrain::MakeDrivetrainLoop().K();
 
   const double yoffset = params.y_offset;
   const double turn_offset =
diff --git a/y2016/BUILD b/y2016/BUILD
index 9bc5cd7..4a2e768 100644
--- a/y2016/BUILD
+++ b/y2016/BUILD
@@ -1,4 +1,5 @@
 load('/aos/downloader/downloader', 'aos_downloader')
+load('/aos/downloader/downloader', 'aos_downloader_dir')
 
 cc_library(
   name = 'constants',
@@ -38,6 +39,7 @@
     '//frc971/control_loops/drivetrain:drivetrain_queue',
     '//frc971/queues:gyro',
     '//y2016/actors:autonomous_action_lib',
+    '//y2016/actors:superstructure_action_lib',
     '//y2016/actors:vision_align_action_lib',
     '//y2016/control_loops/shooter:shooter_queue',
     '//y2016/control_loops/superstructure:superstructure_lib',
@@ -54,7 +56,9 @@
     '//y2016/control_loops/drivetrain:drivetrain',
     '//y2016/control_loops/superstructure:superstructure',
     '//y2016/control_loops/shooter:shooter',
+    '//y2016/dashboard:dashboard',
     '//y2016/actors:autonomous_action',
+    '//y2016/actors:superstructure_action',
     '//y2016/actors:vision_align_action',
     '//y2016/wpilib:wpilib_interface',
     '//y2016/vision:target_receiver',
@@ -62,6 +66,9 @@
   srcs = [
     '//aos:prime_binaries',
   ],
+  dirs = [
+    '//y2016/dashboard:www_files',
+  ],
 )
 
 aos_downloader(
@@ -72,7 +79,9 @@
     '//y2016/control_loops/drivetrain:drivetrain.stripped',
     '//y2016/control_loops/superstructure:superstructure.stripped',
     '//y2016/control_loops/shooter:shooter.stripped',
+    '//y2016/dashboard:dashboard.stripped',
     '//y2016/actors:autonomous_action.stripped',
+    '//y2016/actors:superstructure_action.stripped',
     '//y2016/actors:vision_align_action.stripped',
     '//y2016/wpilib:wpilib_interface.stripped',
     '//y2016/vision:target_receiver.stripped',
@@ -80,4 +89,7 @@
   srcs = [
     '//aos:prime_binaries_stripped',
   ],
+  dirs = [
+    '//y2016/dashboard:www_files',
+  ],
 )
diff --git a/y2016/actors/BUILD b/y2016/actors/BUILD
index cee67c0..453d49e 100644
--- a/y2016/actors/BUILD
+++ b/y2016/actors/BUILD
@@ -122,6 +122,7 @@
     '//aos/common/logging',
     '//aos/common/actions:action_lib',
     '//frc971/control_loops/drivetrain:drivetrain_queue',
+    '//y2016/queues:ball_detector',
     '//y2016/control_loops/superstructure:superstructure_queue',
     '//y2016/control_loops/shooter:shooter_queue',
     '//y2016/control_loops/drivetrain:drivetrain_base',
diff --git a/y2016/actors/autonomous_actor.cc b/y2016/actors/autonomous_actor.cc
index 9024335..199dda5 100644
--- a/y2016/actors/autonomous_actor.cc
+++ b/y2016/actors/autonomous_actor.cc
@@ -12,6 +12,7 @@
 #include "y2016/control_loops/shooter/shooter.q.h"
 #include "y2016/control_loops/superstructure/superstructure.q.h"
 #include "y2016/actors/autonomous_action.q.h"
+#include "y2016/queues/ball_detector.q.h"
 #include "y2016/vision/vision.q.h"
 
 namespace y2016 {
@@ -28,8 +29,16 @@
 
 const ProfileParameters kSlowTurn = {0.8, 3.0};
 const ProfileParameters kFastTurn = {3.0, 10.0};
+const ProfileParameters kStealTurn = {4.0, 15.0};
+const ProfileParameters kSwerveTurn = {2.0, 7.0};
+const ProfileParameters kFinishTurn = {2.0, 5.0};
 
-const double kDistanceShort = 0.25;
+const ProfileParameters kTwoBallLowDrive = {1.7, 3.5};
+const ProfileParameters kTwoBallFastDrive = {3.0, 1.5};
+const ProfileParameters kTwoBallReturnDrive = {3.0, 1.9};
+const ProfileParameters kTwoBallReturnSlow = {3.0, 2.5};
+const ProfileParameters kTwoBallBallPickup = {2.0, 1.75};
+const ProfileParameters kTwoBallBallPickupAccel = {2.0, 2.5};
 }  // namespace
 
 AutonomousActor::AutonomousActor(actors::AutonomousActionQueueGroup *s)
@@ -55,6 +64,7 @@
                                  ProfileParameters linear,
                                  ProfileParameters angular) {
   {
+    LOG(INFO, "Driving distance %f, angle %f\n", distance, angle);
     {
       const double dangle = angle * dt_config_.robot_radius;
       initial_drivetrain_.left += distance - dangle;
@@ -103,6 +113,8 @@
   }
 }
 
+constexpr double kDoNotTurnCare = 2.0;
+
 bool AutonomousActor::WaitForDriveNear(double distance, double angle) {
   ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
                                       ::aos::time::Time::InMS(5) / 2);
@@ -151,11 +163,9 @@
   }
 }
 
-bool AutonomousActor::WaitForDriveDone() {
+bool AutonomousActor::WaitForDriveProfileDone() {
   ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
                                       ::aos::time::Time::InMS(5) / 2);
-  constexpr double kPositionTolerance = 0.02;
-  constexpr double kVelocityTolerance = 0.10;
   constexpr double kProfileTolerance = 0.001;
 
   while (true) {
@@ -168,15 +178,7 @@
       if (::std::abs(drivetrain_queue.status->profiled_left_position_goal -
                      initial_drivetrain_.left) < kProfileTolerance &&
           ::std::abs(drivetrain_queue.status->profiled_right_position_goal -
-                     initial_drivetrain_.right) < kProfileTolerance &&
-          ::std::abs(drivetrain_queue.status->estimated_left_position -
-                     initial_drivetrain_.left) < kPositionTolerance &&
-          ::std::abs(drivetrain_queue.status->estimated_right_position -
-                     initial_drivetrain_.right) < kPositionTolerance &&
-          ::std::abs(drivetrain_queue.status->estimated_left_velocity) <
-              kVelocityTolerance &&
-          ::std::abs(drivetrain_queue.status->estimated_right_velocity) <
-              kVelocityTolerance) {
+                     initial_drivetrain_.right) < kProfileTolerance) {
         LOG(INFO, "Finished drive\n");
         return true;
       }
@@ -184,11 +186,117 @@
   }
 }
 
+bool AutonomousActor::WaitForMaxBy(double angle) {
+  ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
+                                      ::aos::time::Time::InMS(5) / 2);
+  double max_angle = -M_PI;
+  while (true) {
+    if (ShouldCancel()) {
+      return false;
+    }
+    phased_loop.SleepUntilNext();
+    drivetrain_queue.status.FetchLatest();
+    if (IsDriveDone()) {
+      return true;
+    }
+    if (drivetrain_queue.status.get()) {
+      if (drivetrain_queue.status->ground_angle > max_angle) {
+        max_angle = drivetrain_queue.status->ground_angle;
+      }
+      if (drivetrain_queue.status->ground_angle < max_angle - angle) {
+        return true;
+      }
+    }
+  }
+}
+
+bool AutonomousActor::WaitForAboveAngle(double angle) {
+  ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
+                                      ::aos::time::Time::InMS(5) / 2);
+  while (true) {
+    if (ShouldCancel()) {
+      return false;
+    }
+    phased_loop.SleepUntilNext();
+    drivetrain_queue.status.FetchLatest();
+    if (IsDriveDone()) {
+      return true;
+    }
+    if (drivetrain_queue.status.get()) {
+      if (drivetrain_queue.status->ground_angle > angle) {
+        return true;
+      }
+    }
+  }
+}
+
+bool AutonomousActor::WaitForBelowAngle(double angle) {
+  ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
+                                      ::aos::time::Time::InMS(5) / 2);
+  while (true) {
+    if (ShouldCancel()) {
+      return false;
+    }
+    phased_loop.SleepUntilNext();
+    drivetrain_queue.status.FetchLatest();
+    if (IsDriveDone()) {
+      return true;
+    }
+    if (drivetrain_queue.status.get()) {
+      if (drivetrain_queue.status->ground_angle < angle) {
+        return true;
+      }
+    }
+  }
+}
+
+bool AutonomousActor::IsDriveDone() {
+  constexpr double kPositionTolerance = 0.02;
+  constexpr double kVelocityTolerance = 0.10;
+  constexpr double kProfileTolerance = 0.001;
+
+  if (drivetrain_queue.status.get()) {
+    if (::std::abs(drivetrain_queue.status->profiled_left_position_goal -
+                   initial_drivetrain_.left) < kProfileTolerance &&
+        ::std::abs(drivetrain_queue.status->profiled_right_position_goal -
+                   initial_drivetrain_.right) < kProfileTolerance &&
+        ::std::abs(drivetrain_queue.status->estimated_left_position -
+                   initial_drivetrain_.left) < kPositionTolerance &&
+        ::std::abs(drivetrain_queue.status->estimated_right_position -
+                   initial_drivetrain_.right) < kPositionTolerance &&
+        ::std::abs(drivetrain_queue.status->estimated_left_velocity) <
+            kVelocityTolerance &&
+        ::std::abs(drivetrain_queue.status->estimated_right_velocity) <
+            kVelocityTolerance) {
+      LOG(INFO, "Finished drive\n");
+      return true;
+    }
+  }
+  return false;
+}
+
+bool AutonomousActor::WaitForDriveDone() {
+  ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
+                                      ::aos::time::Time::InMS(5) / 2);
+
+  while (true) {
+    if (ShouldCancel()) {
+      return false;
+    }
+    phased_loop.SleepUntilNext();
+    drivetrain_queue.status.FetchLatest();
+    if (IsDriveDone()) {
+      return true;
+    }
+  }
+}
+
 void AutonomousActor::MoveSuperstructure(
     double intake, double shoulder, double wrist,
     const ProfileParameters intake_params,
     const ProfileParameters shoulder_params,
-    const ProfileParameters wrist_params, bool traverse_up) {
+    const ProfileParameters wrist_params, bool traverse_up,
+    double roller_power) {
   superstructure_goal_ = {intake, shoulder, wrist};
 
   auto new_superstructure_goal =
@@ -212,17 +320,45 @@
   new_superstructure_goal->max_angular_acceleration_wrist =
       wrist_params.max_acceleration;
 
-  new_superstructure_goal->voltage_top_rollers = 0.0;
-  new_superstructure_goal->voltage_bottom_rollers = 0.0;
+  new_superstructure_goal->voltage_top_rollers = roller_power;
+  new_superstructure_goal->voltage_bottom_rollers = roller_power;
 
   new_superstructure_goal->traverse_unlatched = true;
   new_superstructure_goal->traverse_down = !traverse_up;
+  new_superstructure_goal->voltage_climber = 0.0;
+  new_superstructure_goal->unfold_climber = false;
 
   if (!new_superstructure_goal.Send()) {
     LOG(ERROR, "Sending superstructure goal failed.\n");
   }
 }
 
+void AutonomousActor::OpenShooter() {
+  shooter_speed_ = 0.0;
+
+  if (!control_loops::shooter::shooter_queue.goal.MakeWithBuilder()
+           .angular_velocity(shooter_speed_)
+           .clamp_open(true)
+           .push_to_shooter(false)
+           .force_lights_on(false)
+           .Send()) {
+    LOG(ERROR, "Sending shooter goal failed.\n");
+  }
+}
+
+void AutonomousActor::CloseShooter() {
+  shooter_speed_ = 0.0;
+
+  if (!control_loops::shooter::shooter_queue.goal.MakeWithBuilder()
+           .angular_velocity(shooter_speed_)
+           .clamp_open(false)
+           .push_to_shooter(false)
+           .force_lights_on(false)
+           .Send()) {
+    LOG(ERROR, "Sending shooter goal failed.\n");
+  }
+}
+
 void AutonomousActor::SetShooterSpeed(double speed) {
   shooter_speed_ = speed;
 
@@ -300,7 +436,8 @@
   vision_action_->Start();
 }
 
-void AutonomousActor::WaitForAlignedWithVision() {
+void AutonomousActor::WaitForAlignedWithVision(
+    ::aos::time::Time align_duration) {
   bool vision_valid = false;
   double last_angle = 0.0;
   int ready_to_fire = 0;
@@ -308,7 +445,7 @@
   ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
                                       ::aos::time::Time::InMS(5) / 2);
   ::aos::time::Time end_time =
-      ::aos::time::Time::Now() + aos::time::Time::InSeconds(3);
+      ::aos::time::Time::Now() + align_duration;
   while (end_time > ::aos::time::Time::Now()) {
     if (ShouldCancel()) break;
 
@@ -344,8 +481,9 @@
       } else {
         ready_to_fire = 0;
       }
-      if (ready_to_fire > 9) {
+      if (ready_to_fire > 15) {
         break;
+        LOG(INFO, "Vision align success!\n");
       }
     }
     phased_loop.SleepUntilNext();
@@ -353,15 +491,106 @@
 
   vision_action_->Cancel();
   WaitUntilDoneOrCanceled(::std::move(vision_action_));
+  LOG(INFO, "Done waiting for vision\n");
+}
+
+bool AutonomousActor::IntakeDone() {
+  control_loops::superstructure_queue.status.FetchAnother();
+
+  constexpr double kProfileError = 1e-5;
+  constexpr double kEpsilon = 0.15;
+
+  if (control_loops::superstructure_queue.status->state < 12 ||
+      control_loops::superstructure_queue.status->state == 16) {
+    LOG(ERROR, "Superstructure no longer running, aborting action\n");
+    return true;
+  }
+
+  if (::std::abs(control_loops::superstructure_queue.status->intake.goal_angle -
+                 superstructure_goal_.intake) < kProfileError &&
+      ::std::abs(control_loops::superstructure_queue.status->intake
+                     .goal_angular_velocity) < kProfileError) {
+    LOG(DEBUG, "Profile done.\n");
+    if (::std::abs(control_loops::superstructure_queue.status->intake.angle -
+                   superstructure_goal_.intake) < kEpsilon &&
+        ::std::abs(control_loops::superstructure_queue.status->intake
+                       .angular_velocity) < kEpsilon) {
+      LOG(INFO, "Near goal, done.\n");
+      return true;
+    }
+  }
+  return false;
+}
+
+bool AutonomousActor::SuperstructureProfileDone() {
+  constexpr double kProfileError = 1e-5;
+  return ::std::abs(
+             control_loops::superstructure_queue.status->intake.goal_angle -
+             superstructure_goal_.intake) < kProfileError &&
+         ::std::abs(
+             control_loops::superstructure_queue.status->shoulder.goal_angle -
+             superstructure_goal_.shoulder) < kProfileError &&
+         ::std::abs(
+             control_loops::superstructure_queue.status->wrist.goal_angle -
+             superstructure_goal_.wrist) < kProfileError &&
+         ::std::abs(control_loops::superstructure_queue.status->intake
+                        .goal_angular_velocity) < kProfileError &&
+         ::std::abs(control_loops::superstructure_queue.status->shoulder
+                        .goal_angular_velocity) < kProfileError &&
+         ::std::abs(control_loops::superstructure_queue.status->wrist
+                        .goal_angular_velocity) < kProfileError;
+}
+
+bool AutonomousActor::SuperstructureDone() {
+  control_loops::superstructure_queue.status.FetchAnother();
+
+  constexpr double kEpsilon = 0.03;
+
+  if (control_loops::superstructure_queue.status->state < 12 ||
+      control_loops::superstructure_queue.status->state == 16) {
+    LOG(ERROR, "Superstructure no longer running, aborting action\n");
+    return true;
+  }
+
+  if (SuperstructureProfileDone()) {
+    LOG(DEBUG, "Profile done.\n");
+    if (::std::abs(control_loops::superstructure_queue.status->intake.angle -
+                   superstructure_goal_.intake) < (kEpsilon + 0.1) &&
+        ::std::abs(control_loops::superstructure_queue.status->shoulder.angle -
+                   superstructure_goal_.shoulder) < (kEpsilon + 0.05) &&
+        ::std::abs(control_loops::superstructure_queue.status->wrist.angle -
+                   superstructure_goal_.wrist) < (kEpsilon + 0.01) &&
+        ::std::abs(control_loops::superstructure_queue.status->intake
+                       .angular_velocity) < (kEpsilon + 0.1) &&
+        ::std::abs(control_loops::superstructure_queue.status->shoulder
+                       .angular_velocity) < (kEpsilon + 0.10) &&
+        ::std::abs(control_loops::superstructure_queue.status->wrist
+                       .angular_velocity) < (kEpsilon + 0.05)) {
+      LOG(INFO, "Near goal, done.\n");
+      return true;
+    }
+  }
+  return false;
+}
+
+void AutonomousActor::WaitForIntake() {
+  while (true) {
+    if (ShouldCancel()) return;
+    if (IntakeDone()) return;
+  }
 }
 
 void AutonomousActor::WaitForSuperstructure() {
   while (true) {
     if (ShouldCancel()) return;
-    control_loops::superstructure_queue.status.FetchAnother();
+    if (SuperstructureDone()) return;
+  }
+}
 
-    constexpr double kProfileError = 1e-5;
-    constexpr double kEpsilon = 0.03;
+void AutonomousActor::WaitForSuperstructureProfile() {
+  while (true) {
+    if (ShouldCancel()) return;
+    control_loops::superstructure_queue.status.FetchAnother();
 
     if (control_loops::superstructure_queue.status->state < 12 ||
         control_loops::superstructure_queue.status->state == 16) {
@@ -369,75 +598,81 @@
       return;
     }
 
-    if (::std::abs(
-            control_loops::superstructure_queue.status->intake.goal_angle -
-            superstructure_goal_.intake) < kProfileError &&
-        ::std::abs(
-            control_loops::superstructure_queue.status->shoulder.goal_angle -
-            superstructure_goal_.shoulder) < kProfileError &&
-        ::std::abs(
-            control_loops::superstructure_queue.status->wrist.goal_angle -
-            superstructure_goal_.wrist) < kProfileError &&
-        ::std::abs(control_loops::superstructure_queue.status->intake
-                       .goal_angular_velocity) < kProfileError &&
-        ::std::abs(control_loops::superstructure_queue.status->shoulder
-                       .goal_angular_velocity) < kProfileError &&
-        ::std::abs(control_loops::superstructure_queue.status->wrist
-                       .goal_angular_velocity) < kProfileError) {
-      LOG(INFO, "Profile done.\n");
-      if (::std::abs(control_loops::superstructure_queue.status->intake.angle -
-                     superstructure_goal_.intake) < kEpsilon &&
-          ::std::abs(
-              control_loops::superstructure_queue.status->shoulder.angle -
-              superstructure_goal_.shoulder) < kEpsilon &&
-          ::std::abs(control_loops::superstructure_queue.status->wrist.angle -
-                     superstructure_goal_.wrist) < kEpsilon &&
-          ::std::abs(control_loops::superstructure_queue.status->intake
-                         .angular_velocity) < kEpsilon &&
-          ::std::abs(control_loops::superstructure_queue.status->shoulder
-                         .angular_velocity) < kEpsilon &&
-          ::std::abs(control_loops::superstructure_queue.status->wrist
-                         .angular_velocity) < kEpsilon) {
-        LOG(INFO, "Near goal, done.\n");
-        return;
-      }
+    if (SuperstructureProfileDone()) return;
+  }
+}
+
+void AutonomousActor::WaitForSuperstructureLow() {
+  while (true) {
+    if (ShouldCancel()) return;
+    control_loops::superstructure_queue.status.FetchAnother();
+
+    if (control_loops::superstructure_queue.status->state < 12 ||
+        control_loops::superstructure_queue.status->state == 16) {
+      LOG(ERROR, "Superstructure no longer running, aborting action\n");
+      return;
+    }
+    if (SuperstructureProfileDone()) return;
+    if (control_loops::superstructure_queue.status->shoulder.angle < 0.1) {
+      return;
     }
   }
 }
+void AutonomousActor::BackLongShotLowBarTwoBall() {
+  LOG(INFO, "Expanding for back long shot\n");
+  MoveSuperstructure(0.00, M_PI / 2.0 - 0.2, -0.55, {7.0, 40.0}, {4.0, 6.0},
+                     {10.0, 25.0}, false, 0.0);
+}
+
+void AutonomousActor::BackLongShotTwoBall() {
+  LOG(INFO, "Expanding for back long shot\n");
+  MoveSuperstructure(0.00, M_PI / 2.0 - 0.2, -0.55, {7.0, 40.0}, {4.0, 6.0},
+                     {10.0, 25.0}, false, 0.0);
+}
+
+void AutonomousActor::BackLongShotTwoBallFinish() {
+  LOG(INFO, "Expanding for back long shot\n");
+  MoveSuperstructure(0.00, M_PI / 2.0 - 0.2, -0.625, {7.0, 40.0}, {4.0, 6.0},
+                     {10.0, 25.0}, false, 0.0);
+}
+
 void AutonomousActor::BackLongShot() {
   LOG(INFO, "Expanding for back long shot\n");
-  MoveSuperstructure(-0.05, M_PI / 2.0 - 0.2, -0.62, {7.0, 40.0}, {4.0, 10.0},
-                     {10.0, 25.0}, false);
+  MoveSuperstructure(0.80, M_PI / 2.0 - 0.2, -0.62, {7.0, 40.0}, {4.0, 6.0},
+                     {10.0, 25.0}, false, 0.0);
 }
 
 void AutonomousActor::BackMiddleShot() {
   LOG(INFO, "Expanding for back middle shot\n");
   MoveSuperstructure(-0.05, M_PI / 2.0 - 0.2, -0.665, {7.0, 40.0}, {4.0, 10.0},
-                     {10.0, 25.0}, false);
+                     {10.0, 25.0}, false, 0.0);
+}
+
+void AutonomousActor::FrontLongShot() {
+  LOG(INFO, "Expanding for front long shot\n");
+  MoveSuperstructure(0.80, M_PI / 2.0 + 0.1, M_PI + 0.41 + 0.02, {7.0, 40.0},
+                     {4.0, 6.0}, {10.0, 25.0}, false, 0.0);
+}
+
+void AutonomousActor::FrontMiddleShot() {
+  LOG(INFO, "Expanding for front middle shot\n");
+  MoveSuperstructure(-0.05, M_PI / 2.0 + 0.1, M_PI + 0.44, {7.0, 40.0},
+                     {4.0, 10.0}, {10.0, 25.0}, true, 0.0);
 }
 
 void AutonomousActor::TuckArm(bool low_bar, bool traverse_down) {
   MoveSuperstructure(low_bar ? -0.05 : 2.0, -0.010, 0.0, {7.0, 40.0},
-                     {4.0, 10.0}, {10.0, 25.0}, !traverse_down);
+                     {4.0, 10.0}, {10.0, 25.0}, !traverse_down, 0.0);
 }
 
-void AutonomousActor::DoFullShot(bool center) {
-  // Get the superstructure to unfold and get ready for shooting.
-  LOG(INFO, "Unfolding superstructure\n");
-  if (center) {
-    BackMiddleShot();
-  } else {
-    BackLongShot();
-  }
-
-  // Spin up the shooter wheels.
-  LOG(INFO, "Spinning up the shooter wheels\n");
-  SetShooterSpeed(640.0);
-
+void AutonomousActor::DoFullShot() {
   if (ShouldCancel()) return;
   // Make sure that the base is aligned with the base.
   LOG(INFO, "Waiting for the superstructure\n");
   WaitForSuperstructure();
+
+  ::aos::time::SleepFor(::aos::time::Time::InSeconds(0.5));
+
   if (ShouldCancel()) return;
   LOG(INFO, "Triggering the vision actor\n");
   AlignWithVisionGoal();
@@ -445,12 +680,13 @@
   // Wait for the drive base to be aligned with the target and make sure that
   // the shooter is up to speed.
   LOG(INFO, "Waiting for vision to be aligned\n");
-  WaitForAlignedWithVision();
+  WaitForAlignedWithVision(aos::time::Time::InSeconds(2));
   if (ShouldCancel()) return;
   LOG(INFO, "Waiting for shooter to be up to speed\n");
   WaitForShooterSpeed();
   if (ShouldCancel()) return;
 
+  ::aos::time::SleepFor(::aos::time::Time::InSeconds(0.3));
   LOG(INFO, "Shoot!\n");
   Shoot();
 
@@ -463,7 +699,7 @@
 
   // Wait for everything to be folded up.
   LOG(INFO, "Waiting for superstructure to be folded back down\n");
-  WaitForSuperstructure();
+  WaitForSuperstructureLow();
 }
 
 void AutonomousActor::LowBarDrive() {
@@ -486,46 +722,306 @@
   StartDrive(0, -M_PI / 4.0 - 0.2, kLowBarDrive, kSlowTurn);
 }
 
+void AutonomousActor::TippyDrive(double goal_distance, double tip_distance,
+                                 double below, double above) {
+  StartDrive(goal_distance, 0.0, kMoatDrive, kSlowTurn);
+  if (!WaitForBelowAngle(below)) return;
+  if (!WaitForAboveAngle(above)) return;
+  // Ok, we are good now.  Compensate by moving the goal by the error.
+  // Should be here at 2.7
+  drivetrain_queue.status.FetchLatest();
+  if (drivetrain_queue.status.get()) {
+    const double left_error =
+        (initial_drivetrain_.left -
+         drivetrain_queue.status->estimated_left_position);
+    const double right_error =
+        (initial_drivetrain_.right -
+         drivetrain_queue.status->estimated_right_position);
+    const double distance_to_go = (left_error + right_error) / 2.0;
+    const double distance_compensation =
+        goal_distance - tip_distance - distance_to_go;
+    LOG(INFO, "Going %f further at the bump\n", distance_compensation);
+    StartDrive(distance_compensation, 0.0, kMoatDrive, kSlowTurn);
+  }
+}
+
 void AutonomousActor::MiddleDrive() {
   TuckArm(false, false);
-  StartDrive(4.7, 0.0, kMoatDrive, kSlowTurn);
+  TippyDrive(3.65, 2.7, -0.2, 0.0);
   if (!WaitForDriveDone()) return;
-  StartDrive(0.0, M_PI, kMoatDrive, kFastTurn);
 }
 
 void AutonomousActor::OneFromMiddleDrive(bool left) {
-  const double kTurnAngle = left ? M_PI / 2.0 - 0.40 : (-M_PI / 2.0 + 0.40);
-  const double kFlipTurnAngle =
-      left ? (M_PI - kTurnAngle) : (-M_PI - kTurnAngle);
+  const double kTurnAngle = left ? -0.41 : 0.41;
   TuckArm(false, false);
-  StartDrive(5.0 - kDistanceShort, 0.0, kMoatDrive, kFastTurn);
-  if (!WaitForDriveDone()) return;
-  StartDrive(0.0, kTurnAngle, kRealignDrive, kFastTurn);
-  if (!WaitForDriveDone()) return;
-  StartDrive(-1.3, 0.0, kRealignDrive, kFastTurn);
-  if (!WaitForDriveDone()) return;
-  StartDrive(0.0, kFlipTurnAngle, kRealignDrive, kFastTurn);
+  TippyDrive(4.05, 2.7, -0.2, 0.0);
 
   if (!WaitForDriveDone()) return;
-  StartDrive(0.3, 0.0, kRealignDrive, kFastTurn);
+  StartDrive(0.0, kTurnAngle, kRealignDrive, kFastTurn);
 }
 
 void AutonomousActor::TwoFromMiddleDrive() {
-  const double kTurnAngle = M_PI / 2.0 - 0.13;
   TuckArm(false, false);
-  StartDrive(5.0 - kDistanceShort, 0.0, kMoatDrive, kFastTurn);
-  if (!WaitForDriveDone()) return;
-  StartDrive(0.0, kTurnAngle, kMoatDrive, kFastTurn);
-  if (!WaitForDriveDone()) return;
-  StartDrive(-2.6, 0.0, kRealignDrive, kFastTurn);
-  if (!WaitForDriveDone()) return;
-  StartDrive(0.0, M_PI - kTurnAngle, kMoatDrive, kFastTurn);
+  constexpr double kDriveDistance = 5.10;
+  TippyDrive(kDriveDistance, 2.7, -0.2, 0.0);
+
+  if (!WaitForDriveNear(kDriveDistance - 3.0, 2.0)) return;
+  StartDrive(0, -M_PI / 2 - 0.10, kMoatDrive, kFastTurn);
 
   if (!WaitForDriveDone()) return;
-  StartDrive(0.3, 0.0, kRealignDrive, kFastTurn);
+  StartDrive(0, M_PI / 3 + 0.35, kMoatDrive, kFastTurn);
+}
+
+void AutonomousActor::CloseIfBall() {
+  ::y2016::sensors::ball_detector.FetchLatest();
+  if (::y2016::sensors::ball_detector.get()) {
+    const bool ball_detected = ::y2016::sensors::ball_detector->voltage > 2.5;
+    if (ball_detected) {
+      CloseShooter();
+    }
+  }
+}
+
+void AutonomousActor::WaitForBallOrDriveDone() {
+  ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
+                                      ::aos::time::Time::InMS(5) / 2);
+  while (true) {
+    if (ShouldCancel()) {
+      return;
+    }
+    phased_loop.SleepUntilNext();
+    drivetrain_queue.status.FetchLatest();
+    if (IsDriveDone()) {
+      return;
+    }
+
+    ::y2016::sensors::ball_detector.FetchLatest();
+    if (::y2016::sensors::ball_detector.get()) {
+      const bool ball_detected = ::y2016::sensors::ball_detector->voltage > 2.5;
+      if (ball_detected) {
+        return;
+      }
+    }
+  }
+}
+
+void AutonomousActor::WaitForBall() {
+  while (true) {
+    ::y2016::sensors::ball_detector.FetchAnother();
+    if (::y2016::sensors::ball_detector.get()) {
+      const bool ball_detected = ::y2016::sensors::ball_detector->voltage > 2.5;
+      if (ball_detected) {
+        return;
+      }
+      if (ShouldCancel()) return;
+    }
+  }
+}
+
+void AutonomousActor::TwoBallAuto() {
+  aos::time::Time start_time = aos::time::Time::Now();
+  OpenShooter();
+  MoveSuperstructure(0.10, -0.010, 0.0, {8.0, 60.0}, {4.0, 10.0}, {10.0, 25.0},
+                     false, 12.0);
+  if (ShouldCancel()) return;
+  LOG(INFO, "Waiting for the intake to come down.\n");
+
+  WaitForIntake();
+  LOG(INFO, "Intake done at %f seconds, starting to drive\n",
+      (aos::time::Time::Now() - start_time).ToSeconds());
+  if (ShouldCancel()) return;
+  const double kDriveDistance = 5.05;
+  StartDrive(-kDriveDistance, 0.0, kTwoBallLowDrive, kSlowTurn);
+
+  StartDrive(0.0, 0.4, kTwoBallLowDrive, kSwerveTurn);
+  if (!WaitForDriveNear(kDriveDistance - 0.5, kDoNotTurnCare)) return;
+
+  // Check if the ball is there.
+  bool first_ball_there = true;
+  ::y2016::sensors::ball_detector.FetchLatest();
+  if (::y2016::sensors::ball_detector.get()) {
+    const bool ball_detected = ::y2016::sensors::ball_detector->voltage > 2.5;
+    first_ball_there = ball_detected;
+    LOG(INFO, "Saw the ball: %d at %f\n", first_ball_there,
+        (aos::time::Time::Now() - start_time).ToSeconds());
+  }
+  MoveSuperstructure(0.10, -0.010, 0.0, {8.0, 40.0}, {4.0, 10.0}, {10.0, 25.0},
+                     false, 0.0);
+  LOG(INFO, "Shutting off rollers at %f seconds, starting to straighten out\n",
+      (aos::time::Time::Now() - start_time).ToSeconds());
+  StartDrive(0.0, -0.4, kTwoBallLowDrive, kSwerveTurn);
+  MoveSuperstructure(-0.05, -0.010, 0.0, {8.0, 40.0}, {4.0, 10.0}, {10.0, 25.0},
+                     false, 0.0);
+  CloseShooter();
+  if (!WaitForDriveNear(kDriveDistance - 2.4, kDoNotTurnCare)) return;
+
+  // We are now under the low bar.  Start lifting.
+  BackLongShotLowBarTwoBall();
+  LOG(INFO, "Spinning up the shooter wheels\n");
+  SetShooterSpeed(640.0);
+  StartDrive(0.0, 0.0, kTwoBallFastDrive, kSwerveTurn);
+
+  if (!WaitForDriveNear(1.50, kDoNotTurnCare)) return;
+  constexpr double kShootTurnAngle = -M_PI / 4.0 - 0.05;
+  StartDrive(0, kShootTurnAngle, kTwoBallFastDrive, kFinishTurn);
+  BackLongShotTwoBall();
+
+  if (!WaitForDriveDone()) return;
+  LOG(INFO, "First shot done driving at %f seconds\n",
+      (aos::time::Time::Now() - start_time).ToSeconds());
+
+  WaitForSuperstructureProfile();
+
+  if (ShouldCancel()) return;
+  AlignWithVisionGoal();
+
+  WaitForShooterSpeed();
+  if (ShouldCancel()) return;
+
+  constexpr double kVisionExtra = 0.0;
+  WaitForAlignedWithVision(aos::time::Time::InSeconds(0.5 + kVisionExtra));
+  BackLongShotTwoBallFinish();
+  WaitForSuperstructureProfile();
+  if (ShouldCancel()) return;
+  LOG(INFO, "Shoot!\n");
+  if (first_ball_there) {
+    Shoot();
+  } else {
+    LOG(INFO, "Nah, not shooting\n");
+  }
+
+  LOG(INFO, "First shot at %f seconds\n",
+      (aos::time::Time::Now() - start_time).ToSeconds());
+  if (ShouldCancel()) return;
+
+  SetShooterSpeed(0.0);
+  LOG(INFO, "Folding superstructure back down\n");
+  TuckArm(true, true);
+
+  // Undo vision move.
+  StartDrive(0.0, 0.0, kTwoBallFastDrive, kFinishTurn);
+  if (!WaitForDriveDone()) return;
+
+  constexpr double kBackDrive = 3.09 - 0.4;
+  StartDrive(kBackDrive, 0.0, kTwoBallReturnDrive, kSlowTurn);
+  if (!WaitForDriveNear(kBackDrive - 0.19, kDoNotTurnCare)) return;
+  StartDrive(0, -kShootTurnAngle, kTwoBallReturnDrive, kSwerveTurn);
+  if (!WaitForDriveNear(1.0, kDoNotTurnCare)) return;
+  StartDrive(0, 0, kTwoBallReturnSlow, kSwerveTurn);
+
+  if (!WaitForDriveNear(0.06, kDoNotTurnCare)) return;
+  LOG(INFO, "At Low Bar %f\n",
+      (aos::time::Time::Now() - start_time).ToSeconds());
+
+  OpenShooter();
+  constexpr double kSecondBallAfterBarDrive = 2.10;
+  StartDrive(kSecondBallAfterBarDrive, 0.0, kTwoBallBallPickupAccel, kSlowTurn);
+  if (!WaitForDriveNear(kSecondBallAfterBarDrive - 0.5, kDoNotTurnCare)) return;
+  constexpr double kBallSmallWallTurn = -0.11;
+  StartDrive(0, kBallSmallWallTurn, kTwoBallBallPickup, kFinishTurn);
+
+  MoveSuperstructure(0.03, -0.010, 0.0, {8.0, 60.0}, {4.0, 10.0}, {10.0, 25.0},
+                     false, 12.0);
+
+  if (!WaitForDriveProfileDone()) return;
+
+  MoveSuperstructure(0.10, -0.010, 0.0, {8.0, 60.0}, {4.0, 10.0}, {10.0, 25.0},
+                     false, 12.0);
+
+  LOG(INFO, "Done backing up %f\n",
+      (aos::time::Time::Now() - start_time).ToSeconds());
+
+  constexpr double kDriveBackDistance = 5.15 - 0.4;
+  StartDrive(-kDriveBackDistance, 0.0, kTwoBallLowDrive, kFinishTurn);
+  CloseIfBall();
+  if (!WaitForDriveNear(kDriveBackDistance - 0.75, kDoNotTurnCare)) return;
+
+  StartDrive(0.0, -kBallSmallWallTurn, kTwoBallLowDrive, kFinishTurn);
+  LOG(INFO, "Straightening up at %f\n",
+      (aos::time::Time::Now() - start_time).ToSeconds());
+
+  CloseIfBall();
+  if (!WaitForDriveNear(kDriveBackDistance - 2.3, kDoNotTurnCare)) return;
+
+  ::y2016::sensors::ball_detector.FetchLatest();
+  if (::y2016::sensors::ball_detector.get()) {
+    const bool ball_detected = ::y2016::sensors::ball_detector->voltage > 2.5;
+    if (!ball_detected) {
+      if (!WaitForDriveDone()) return;
+      LOG(INFO, "Aborting, no ball %f\n",
+          (aos::time::Time::Now() - start_time).ToSeconds());
+      return;
+    }
+  }
+  CloseShooter();
+
+  BackLongShotLowBarTwoBall();
+  LOG(INFO, "Spinning up the shooter wheels\n");
+  SetShooterSpeed(640.0);
+  StartDrive(0.0, 0.0, kTwoBallFastDrive, kSwerveTurn);
+
+  if (!WaitForDriveNear(1.80, kDoNotTurnCare)) return;
+  StartDrive(0, kShootTurnAngle, kTwoBallFastDrive, kFinishTurn);
+  BackLongShotTwoBall();
+
+  if (!WaitForDriveDone()) return;
+  LOG(INFO, "Second shot done driving at %f seconds\n",
+      (aos::time::Time::Now() - start_time).ToSeconds());
+  WaitForSuperstructure();
+  AlignWithVisionGoal();
+  if (ShouldCancel()) return;
+
+  WaitForShooterSpeed();
+  if (ShouldCancel()) return;
+
+  // 2.2 with 0.4 of vision.
+  // 1.8 without any vision.
+  LOG(INFO, "Going to vision align at %f\n",
+      (aos::time::Time::Now() - start_time).ToSeconds());
+  WaitForAlignedWithVision(start_time + aos::time::Time::InSeconds(13.5 + kVisionExtra * 2) -
+                           aos::time::Time::Now());
+  BackLongShotTwoBallFinish();
+  WaitForSuperstructureProfile();
+  if (ShouldCancel()) return;
+  LOG(INFO, "Shoot at %f\n", (aos::time::Time::Now() - start_time).ToSeconds());
+  Shoot();
+
+  LOG(INFO, "Second shot at %f seconds\n",
+      (aos::time::Time::Now() - start_time).ToSeconds());
+  if (ShouldCancel()) return;
+
+  SetShooterSpeed(0.0);
+  LOG(INFO, "Folding superstructure back down\n");
+  TuckArm(true, false);
+  LOG(INFO, "Shot %f\n", (aos::time::Time::Now() - start_time).ToSeconds());
+
+  WaitForSuperstructureLow();
+
+  LOG(INFO, "Done %f\n", (aos::time::Time::Now() - start_time).ToSeconds());
+}
+
+void AutonomousActor::StealAndMoveOverBy(double distance) {
+  OpenShooter();
+  MoveSuperstructure(0.10, -0.010, 0.0, {8.0, 60.0}, {4.0, 10.0}, {10.0, 25.0},
+                     true, 12.0);
+  if (ShouldCancel()) return;
+  LOG(INFO, "Waiting for the intake to come down.\n");
+
+  WaitForIntake();
+  if (ShouldCancel()) return;
+  StartDrive(-distance, M_PI / 2.0, kFastDrive, kStealTurn);
+  WaitForBallOrDriveDone();
+  if (ShouldCancel()) return;
+  MoveSuperstructure(1.0, -0.010, 0.0, {8.0, 60.0}, {4.0, 10.0}, {10.0, 25.0},
+                     true, 12.0);
+
+  if (!WaitForDriveDone()) return;
+  StartDrive(0.0, M_PI / 2.0, kFastDrive, kStealTurn);
+  if (!WaitForDriveDone()) return;
 }
 
 bool AutonomousActor::RunAction(const actors::AutonomousActionParams &params) {
+  aos::time::Time start_time = aos::time::Time::Now();
   LOG(INFO, "Starting autonomous action with mode %" PRId32 "\n", params.mode);
 
   InitializeEncoders();
@@ -534,27 +1030,139 @@
   switch (params.mode) {
     case 0:
       LowBarDrive();
+      if (!WaitForDriveDone()) return true;
+      // Get the superstructure to unfold and get ready for shooting.
+      LOG(INFO, "Unfolding superstructure\n");
+      FrontLongShot();
+
+      // Spin up the shooter wheels.
+      LOG(INFO, "Spinning up the shooter wheels\n");
+      SetShooterSpeed(640.0);
+
       break;
     case 1:
       TwoFromMiddleDrive();
+      if (!WaitForDriveDone()) return true;
+      // Get the superstructure to unfold and get ready for shooting.
+      LOG(INFO, "Unfolding superstructure\n");
+      FrontMiddleShot();
+
+      // Spin up the shooter wheels.
+      LOG(INFO, "Spinning up the shooter wheels\n");
+      SetShooterSpeed(600.0);
+
       break;
     case 2:
       OneFromMiddleDrive(true);
+      if (!WaitForDriveDone()) return true;
+      // Get the superstructure to unfold and get ready for shooting.
+      LOG(INFO, "Unfolding superstructure\n");
+      FrontMiddleShot();
+
+      // Spin up the shooter wheels.
+      LOG(INFO, "Spinning up the shooter wheels\n");
+      SetShooterSpeed(600.0);
+
       break;
     case 3:
       MiddleDrive();
+      if (!WaitForDriveDone()) return true;
+      // Get the superstructure to unfold and get ready for shooting.
+      LOG(INFO, "Unfolding superstructure\n");
+      FrontMiddleShot();
+
+      // Spin up the shooter wheels.
+      LOG(INFO, "Spinning up the shooter wheels\n");
+      SetShooterSpeed(600.0);
+
       break;
     case 4:
       OneFromMiddleDrive(false);
+      if (!WaitForDriveDone()) return true;
+      // Get the superstructure to unfold and get ready for shooting.
+      LOG(INFO, "Unfolding superstructure\n");
+      FrontMiddleShot();
+
+      // Spin up the shooter wheels.
+      LOG(INFO, "Spinning up the shooter wheels\n");
+      SetShooterSpeed(600.0);
+
       break;
+    case 5:
+      TwoBallAuto();
+      return true;
+      break;
+    case 6:
+      StealAndMoveOverBy(3.10 + 2 * 52 * 2.54 / 100.0);
+      if (ShouldCancel()) return true;
+
+      TwoFromMiddleDrive();
+      if (!WaitForDriveDone()) return true;
+      // Get the superstructure to unfold and get ready for shooting.
+      LOG(INFO, "Unfolding superstructure\n");
+      FrontMiddleShot();
+
+      // Spin up the shooter wheels.
+      LOG(INFO, "Spinning up the shooter wheels\n");
+      SetShooterSpeed(600.0);
+
+      break;
+    case 7:
+      StealAndMoveOverBy(2.95 + 52 * 2.54 / 100.0);
+      if (ShouldCancel()) return true;
+
+      OneFromMiddleDrive(true);
+      if (!WaitForDriveDone()) return true;
+      // Get the superstructure to unfold and get ready for shooting.
+      LOG(INFO, "Unfolding superstructure\n");
+      FrontMiddleShot();
+
+      // Spin up the shooter wheels.
+      LOG(INFO, "Spinning up the shooter wheels\n");
+      SetShooterSpeed(600.0);
+
+      break;
+    case 8: {
+      StealAndMoveOverBy(2.95);
+      if (ShouldCancel()) return true;
+
+      MiddleDrive();
+      if (!WaitForDriveDone()) return true;
+      // Get the superstructure to unfold and get ready for shooting.
+      LOG(INFO, "Unfolding superstructure\n");
+      FrontMiddleShot();
+
+      // Spin up the shooter wheels.
+      LOG(INFO, "Spinning up the shooter wheels\n");
+      SetShooterSpeed(600.0);
+
+    } break;
+    case 9: {
+      StealAndMoveOverBy(1.70);
+      if (ShouldCancel()) return true;
+
+      OneFromMiddleDrive(false);
+      if (!WaitForDriveDone()) return true;
+      // Get the superstructure to unfold and get ready for shooting.
+      LOG(INFO, "Unfolding superstructure\n");
+      FrontMiddleShot();
+
+      // Spin up the shooter wheels.
+      LOG(INFO, "Spinning up the shooter wheels\n");
+      SetShooterSpeed(600.0);
+
+    } break;
     default:
       LOG(ERROR, "Invalid auto mode %d\n", params.mode);
       return true;
   }
 
+  DoFullShot();
+
+  StartDrive(0.5, 0.0, kMoatDrive, kFastTurn);
   if (!WaitForDriveDone()) return true;
 
-  DoFullShot(params.mode != 0);
+  LOG(INFO, "Done %f\n", (aos::time::Time::Now() - start_time).ToSeconds());
 
   ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
                                       ::aos::time::Time::InMS(5) / 2);
diff --git a/y2016/actors/autonomous_actor.h b/y2016/actors/autonomous_actor.h
index 15ed95d..9a26731 100644
--- a/y2016/actors/autonomous_actor.h
+++ b/y2016/actors/autonomous_actor.h
@@ -33,6 +33,17 @@
   // Waits for the drive motion to finish.  Returns true if it succeeded, and
   // false if it cancels.
   bool WaitForDriveDone();
+  void WaitForBallOrDriveDone();
+
+  void StealAndMoveOverBy(double distance);
+
+  // Returns true if the drive has finished.
+  bool IsDriveDone();
+  // Waits until the robot is pitched up above the specified angle, or the move
+  // finishes.  Returns true on success, and false if it cancels.
+  bool WaitForAboveAngle(double angle);
+  bool WaitForBelowAngle(double angle);
+  bool WaitForMaxBy(double angle);
 
   // Waits until the profile and distance is within distance and angle of the
   // goal.  Returns true on success, and false when canceled.
@@ -60,14 +71,32 @@
                           const ProfileParameters intake_params,
                           const ProfileParameters shoulder_params,
                           const ProfileParameters wrist_params,
-                          bool traverse_up);
+                          bool traverse_up, double roller_power);
   void WaitForSuperstructure();
+  void WaitForSuperstructureProfile();
+  void WaitForSuperstructureLow();
+  void WaitForIntake();
+  bool IntakeDone();
+  bool WaitForDriveProfileDone();
 
+  void FrontLongShot();
+  void FrontMiddleShot();
   void BackLongShot();
+  void BackLongShotTwoBall();
+  void BackLongShotTwoBallFinish();
+  void BackLongShotLowBarTwoBall();
   void BackMiddleShot();
+  void WaitForBall();
   void TuckArm(bool arm_down, bool traverse_down);
+  void OpenShooter();
+  void CloseShooter();
+  void CloseIfBall();
+  bool SuperstructureProfileDone();
+  bool SuperstructureDone();
+  void TippyDrive(double goal_distance, double tip_distance, double below,
+                  double above);
 
-  void DoFullShot(bool center);
+  void DoFullShot();
   void LowBarDrive();
   // Drive to the middle spot over the middle position.  Designed for the rock
   // wall, rough terain, or ramparts.
@@ -82,7 +111,9 @@
   void Shoot();
 
   void AlignWithVisionGoal();
-  void WaitForAlignedWithVision();
+  void WaitForAlignedWithVision(aos::time::Time align_duration);
+
+  void TwoBallAuto();
 
   ::std::unique_ptr<actors::VisionAlignAction> vision_action_;
 };
diff --git a/y2016/actors/superstructure_action.q b/y2016/actors/superstructure_action.q
index 72bd310..231f5e7 100644
--- a/y2016/actors/superstructure_action.q
+++ b/y2016/actors/superstructure_action.q
@@ -4,7 +4,10 @@
 
 // Parameters to send with start.
 struct SuperstructureActionParams {
-  double value;
+  double partial_angle;
+  double delay_time;
+  double full_angle;
+  double shooter_angle;
 };
 
 queue_group SuperstructureActionQueueGroup {
diff --git a/y2016/actors/superstructure_actor.cc b/y2016/actors/superstructure_actor.cc
index b8ad33a..c2d7c4d 100644
--- a/y2016/actors/superstructure_actor.cc
+++ b/y2016/actors/superstructure_actor.cc
@@ -1,5 +1,7 @@
 #include "y2016/actors/superstructure_actor.h"
 
+#include <cmath>
+
 #include "aos/common/util/phased_loop.h"
 #include "aos/common/logging/logging.h"
 #include "y2016/actors/superstructure_actor.h"
@@ -9,22 +11,94 @@
 namespace actors {
 
 SuperstructureActor::SuperstructureActor(
-    actors::SuperstructureActionQueueGroup* s)
+    actors::SuperstructureActionQueueGroup *s)
     : aos::common::actions::ActorBase<actors::SuperstructureActionQueueGroup>(
           s) {}
 
 bool SuperstructureActor::RunAction(
-    const actors::SuperstructureActionParams& params) {
-  LOG(INFO, "Starting superstructure action with value %f", params.value);
+    const actors::SuperstructureActionParams &params) {
+  LOG(INFO, "Starting superstructure action\n");
 
-  while (true) {
-    control_loops::superstructure_queue.status.FetchLatest();
-    ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
-                                       ::aos::time::Time::InMS(5) / 2);
-    break;
+  MoveSuperstructure(params.partial_angle, params.shooter_angle, false);
+  WaitForSuperstructure();
+  if (ShouldCancel()) return true;
+  MoveSuperstructure(params.partial_angle, params.shooter_angle, true);
+  if (!WaitOrCancel(::aos::time::Time::InSeconds(params.delay_time))) return true;
+  MoveSuperstructure(params.full_angle, params.shooter_angle, true);
+  WaitForSuperstructure();
+  if (ShouldCancel()) return true;
+  return true;
+}
+
+void SuperstructureActor::MoveSuperstructure(double shoulder, double shooter,
+                                             bool unfold_climber) {
+  superstructure_goal_ = {0, shoulder, shooter};
+
+  auto new_superstructure_goal =
+      ::y2016::control_loops::superstructure_queue.goal.MakeMessage();
+
+  new_superstructure_goal->angle_intake = 0;
+  new_superstructure_goal->angle_shoulder = shoulder;
+  new_superstructure_goal->angle_wrist = shooter;
+
+  new_superstructure_goal->max_angular_velocity_intake = 7.0;
+  new_superstructure_goal->max_angular_velocity_shoulder = 4.0;
+  new_superstructure_goal->max_angular_velocity_wrist = 10.0;
+
+  new_superstructure_goal->max_angular_acceleration_intake = 40.0;
+  new_superstructure_goal->max_angular_acceleration_shoulder = 5.0;
+  new_superstructure_goal->max_angular_acceleration_wrist = 25.0;
+
+  new_superstructure_goal->voltage_top_rollers = 0;
+  new_superstructure_goal->voltage_bottom_rollers = 0;
+
+  new_superstructure_goal->traverse_unlatched = true;
+  new_superstructure_goal->traverse_down = false;
+  new_superstructure_goal->voltage_climber = 0.0;
+  new_superstructure_goal->unfold_climber = unfold_climber;
+
+  if (!new_superstructure_goal.Send()) {
+    LOG(ERROR, "Sending superstructure move failed.\n");
+  }
+}
+
+bool SuperstructureActor::SuperstructureProfileDone() {
+  constexpr double kProfileError = 1e-2;
+  return ::std::abs(
+             control_loops::superstructure_queue.status->intake.goal_angle -
+             superstructure_goal_.intake) < kProfileError &&
+         ::std::abs(
+             control_loops::superstructure_queue.status->shoulder.goal_angle -
+             superstructure_goal_.shoulder) < kProfileError &&
+         ::std::abs(control_loops::superstructure_queue.status->intake
+                        .goal_angular_velocity) < kProfileError &&
+         ::std::abs(control_loops::superstructure_queue.status->shoulder
+                        .goal_angular_velocity) < kProfileError;
+}
+
+bool SuperstructureActor::SuperstructureDone() {
+  control_loops::superstructure_queue.status.FetchAnother();
+
+  // We are no longer running if we are in the zeroing states (below 12), or
+  // estopped.
+  if (control_loops::superstructure_queue.status->state < 12 ||
+      control_loops::superstructure_queue.status->state == 16) {
+    LOG(ERROR, "Superstructure no longer running, aborting action\n");
+    return true;
   }
 
-  return true;
+  if (SuperstructureProfileDone()) {
+    LOG(DEBUG, "Profile done.\n");
+      return true;
+  }
+  return false;
+}
+
+void SuperstructureActor::WaitForSuperstructure() {
+  while (true) {
+    if (ShouldCancel()) return;
+    if (SuperstructureDone()) return;
+  }
 }
 
 ::std::unique_ptr<SuperstructureAction> MakeSuperstructureAction(
diff --git a/y2016/actors/superstructure_actor.h b/y2016/actors/superstructure_actor.h
index b882585..4d5e372 100644
--- a/y2016/actors/superstructure_actor.h
+++ b/y2016/actors/superstructure_actor.h
@@ -13,9 +13,21 @@
 class SuperstructureActor
     : public ::aos::common::actions::ActorBase<SuperstructureActionQueueGroup> {
  public:
-  explicit SuperstructureActor(SuperstructureActionQueueGroup* s);
+  explicit SuperstructureActor(SuperstructureActionQueueGroup *s);
 
-  bool RunAction(const actors::SuperstructureActionParams& params) override;
+  // Internal struct holding superstructure goals sent by autonomous to the
+  // loop.
+  struct SuperstructureGoal {
+    double intake;
+    double shoulder;
+    double wrist;
+  };
+  SuperstructureGoal superstructure_goal_;
+  bool RunAction(const actors::SuperstructureActionParams &params) override;
+  void MoveSuperstructure(double shoulder, double shooter, bool unfold_climber);
+  void WaitForSuperstructure();
+  bool SuperstructureProfileDone();
+  bool SuperstructureDone();
 };
 
 using SuperstructureAction =
@@ -23,7 +35,7 @@
 
 // Makes a new SuperstructureActor action.
 ::std::unique_ptr<SuperstructureAction> MakeSuperstructureAction(
-    const ::y2016::actors::SuperstructureActionParams& params);
+    const ::y2016::actors::SuperstructureActionParams &params);
 
 }  // namespace actors
 }  // namespace y2016
diff --git a/y2016/actors/vision_align_actor.cc b/y2016/actors/vision_align_actor.cc
index ad899be..00695f0 100644
--- a/y2016/actors/vision_align_actor.cc
+++ b/y2016/actors/vision_align_actor.cc
@@ -43,38 +43,33 @@
     if (!::y2016::vision::vision_status.FetchLatest()) {
       continue;
     }
+    const auto &vision_status = *::y2016::vision::vision_status;
 
-    if (!::y2016::vision::vision_status->left_image_valid ||
-        !::y2016::vision::vision_status->right_image_valid) {
+    if (!vision_status.left_image_valid || !vision_status.right_image_valid) {
       continue;
     }
 
     const double side_distance_change =
-        ::y2016::vision::vision_status->horizontal_angle * robot_radius;
+        vision_status.horizontal_angle * robot_radius;
     if (!::std::isfinite(side_distance_change)) {
       continue;
     }
 
-    drivetrain_queue.status.FetchLatest();
-    if (drivetrain_queue.status.get()) {
-      const double left_current =
-          drivetrain_queue.status->estimated_left_position;
-      const double right_current =
-          drivetrain_queue.status->estimated_right_position;
+    const double left_current = vision_status.drivetrain_left_position;
+    const double right_current = vision_status.drivetrain_right_position;
 
-      if (!drivetrain_queue.goal.MakeWithBuilder()
-               .steering(0.0)
-               .throttle(0.0)
-               .highgear(false)
-               .quickturn(false)
-               .control_loop_driving(true)
-               .left_goal(left_current + side_distance_change)
-               .right_goal(right_current - side_distance_change)
-               .left_velocity_goal(0)
-               .right_velocity_goal(0)
-               .Send()) {
-        LOG(WARNING, "sending drivetrain goal failed\n");
-      }
+    if (!drivetrain_queue.goal.MakeWithBuilder()
+             .steering(0.0)
+             .throttle(0.0)
+             .highgear(false)
+             .quickturn(false)
+             .control_loop_driving(true)
+             .left_goal(left_current + side_distance_change)
+             .right_goal(right_current - side_distance_change)
+             .left_velocity_goal(0)
+             .right_velocity_goal(0)
+             .Send()) {
+      LOG(WARNING, "sending drivetrain goal failed\n");
     }
   }
 
diff --git a/y2016/constants.cc b/y2016/constants.cc
index 4f1a01e..974a82d 100644
--- a/y2016/constants.cc
+++ b/y2016/constants.cc
@@ -71,6 +71,7 @@
             0.0, 0.3},
           },
 
+          0.0,
           "practice",
       };
       break;
@@ -85,27 +86,28 @@
            -4.550531 + 150.40906362 * M_PI / 180.0 + 0.5098 - 0.0178 - 0.0725,
            {Values::kZeroingSampleSize, Values::kIntakeEncoderIndexDifference,
             // Location of an index pulse.
-            0.018008, 1.5},
+            0.018008, 2.5},
           },
 
           // Shoulder
           {
            // Value to add to the pot reading for the shoulder.
            -1.0 - 0.0822 + 0.06138835 * M_PI / 180.0 - 0.0323 - 0.1057 +
-               0.0035 + 0.0055,
+               0.0035 + 0.0055 - 0.001 - 0.0103 + 0.0032 - 0.0755,
            {Values::kZeroingSampleSize, Values::kShoulderEncoderIndexDifference,
-            0.536989, 1.5},
+            0.535359, 2.5},
           },
 
           // Wrist
           {
            // Value to add to the pot reading for the wrist.
            3.2390714288298668 + -0.06138835 * M_PI / 180.0 + 0.0078 - 0.0548 -
-               0.0167 + 0.002,
+               0.0167 + 0.002 - 0.0026 - 0.1040 - 0.0035 - 0.0012 + 0.0166 - 0.017 + 0.148 + 0.004,
            {Values::kZeroingSampleSize, Values::kWristEncoderIndexDifference,
-            -1.040454, 1.5},
+            -0.354946, 2.5},
           },
 
+          0.0,
           "competition",
       };
       break;
@@ -117,26 +119,28 @@
           {
            // Hard stop is 164.2067247 degrees.
            -4.2193 + (164.2067247 * M_PI / 180.0 + 0.02 - 0.0235) + 0.0549 -
-               0.104,
+               0.104 + 0.019 - 0.938 + 0.660 - 0.002,
            {Values::kZeroingSampleSize, Values::kIntakeEncoderIndexDifference,
-            0.363074, 0.3},
+            0.332370, 1.3},
           },
 
           // Shoulder (Now calibrated at 0)
           {
-           -1.0016 - 0.0841 + 0.06138835 * M_PI / 180.0,
+           -1.0016 - 0.0841 + 0.06138835 * M_PI / 180.0 + 1.07838 - 1.0441 +
+               0.0034 + 0.0065,
            {Values::kZeroingSampleSize, Values::kShoulderEncoderIndexDifference,
-            0.014860, 0.3},
+            0.126458, 1.3},
           },
 
           // Wrist
           {
            3.326328571170133 - 0.06138835 * M_PI / 180.0 - 0.177 + 0.0323 -
-               0.023,
+               0.023 + 0.0488 + 0.0120 - 0.0005 - 0.0784 - 0.0010 - 0.080 + 0.1245,
            {Values::kZeroingSampleSize, Values::kWristEncoderIndexDifference,
-            -0.622423, 0.3},
+            -0.263227, 1.3},
           },
 
+          0.011,
           "practice",
       };
       break;
diff --git a/y2016/constants.h b/y2016/constants.h
index 7416a3f..a83456c 100644
--- a/y2016/constants.h
+++ b/y2016/constants.h
@@ -33,14 +33,14 @@
   // Ratios for our subsystems.
   static constexpr double kShooterEncoderRatio = 1.0;
   static constexpr double kIntakeEncoderRatio =
-      16.0 / 48.0 * 18.0 / 72.0 * 14.0 / 64.0;
+      14.0 / 64.0 * 18.0 / 72.0 * 16.0 / 48.0;
   static constexpr double kShoulderEncoderRatio =
-      12.0 / 42.0 * 18.0 / 72.0 * 14.0 / 64.0;
+      14.0 / 64.0 * 18.0 / 72.0 * 12.0 / 42.0;
   static constexpr double kWristEncoderRatio =
-      16.0 / 48.0 * 18.0 / 64.0 * 14.0 / 54.0;
+      14.0 / 54.0 * 18.0 / 64.0 * 16.0 / 48.0;
 
-  static constexpr double kIntakePotRatio = 16.0 / 48.0 * 18.0 / 72.0;
-  static constexpr double kShoulderPotRatio = 16.0 / 58.0;
+  static constexpr double kIntakePotRatio = 18.0 / 72.0 * 16.0 / 48.0;
+  static constexpr double kShoulderPotRatio = 12.0 / 42.0;
   static constexpr double kWristPotRatio = 16.0 / 48.0;
 
   // Difference in radians between index pulses.
@@ -54,15 +54,15 @@
   // Subsystem motion ranges, in whatever units that their respective queues say
   // the use.
   static constexpr ::frc971::constants::Range kIntakeRange{// Lower hard stop
-                                                           -0.4,
+                                                           -0.5,
                                                            // Upper hard stop
-                                                           2.75 + 0.05,
+                                                           2.85 + 0.05,
                                                            // Lower soft stop
                                                            -0.300,
                                                            // Uppper soft stop
                                                            2.725};
   static constexpr ::frc971::constants::Range kShoulderRange{// Lower hard stop
-                                                             -0.100,
+                                                             -0.150,
                                                              // Upper hard stop
                                                              2.8,
                                                              // Lower soft stop
@@ -70,9 +70,9 @@
                                                              // Uppper soft stop
                                                              2.0};
   static constexpr ::frc971::constants::Range kWristRange{// Lower hard stop
-                                                          -2.9,
+                                                          -3.0,
                                                           // Upper hard stop
-                                                          2.9,
+                                                          3.0,
                                                           // Lower soft stop
                                                           -2.6,
                                                           // Uppper soft stop
@@ -99,6 +99,7 @@
   };
   Wrist wrist;
 
+  const double down_error;
   const char *vision_name;
 };
 
diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
index 2e64090..9aeb4c8 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -36,7 +36,8 @@
       drivetrain::kLowGearRatio,
       kThreeStateDriveShifter,
       kThreeStateDriveShifter,
-      true};
+      true,
+      constants::GetValues().down_error};
 
   return kDrivetrainConfig;
 };
diff --git a/y2016/control_loops/python/arm.py b/y2016/control_loops/python/arm.py
index 75f0c59..8908038 100755
--- a/y2016/control_loops/python/arm.py
+++ b/y2016/control_loops/python/arm.py
@@ -379,8 +379,8 @@
 
   scenario_plotter = ScenarioPlotter()
 
-  J_accelerating = 12
-  J_decelerating = 5
+  J_accelerating = 18
+  J_decelerating = 7
 
   arm = Arm(name='AcceleratingArm', J=J_accelerating)
   arm_integral_controller = IntegralArm(
diff --git a/y2016/control_loops/python/drivetrain.py b/y2016/control_loops/python/drivetrain.py
index 3701e57..83eb677 100755
--- a/y2016/control_loops/python/drivetrain.py
+++ b/y2016/control_loops/python/drivetrain.py
@@ -77,7 +77,7 @@
     # Radius of the robot, in meters (requires tuning by hand)
     self.rb = 0.601 / 2.0
     # Radius of the wheels, in meters.
-    self.r = 0.097155 * 0.9811158901447808
+    self.r = 0.097155 * 0.9811158901447808 / 118.0 * 115.75
     # Resistance of the motor, divided by the number of motors.
     self.resistance = 12.0 / self.stall_current
     # Motor velocity constant
diff --git a/y2016/control_loops/python/intake.py b/y2016/control_loops/python/intake.py
index cc2dfaf..d99160d 100755
--- a/y2016/control_loops/python/intake.py
+++ b/y2016/control_loops/python/intake.py
@@ -42,7 +42,7 @@
 
     # Moment of inertia, measured in CAD.
     # Extra mass to compensate for friction is added on.
-    self.J = 0.34 + 0.65
+    self.J = 0.34 + 0.40
 
     # Control loop time step
     self.dt = 0.005
@@ -73,7 +73,7 @@
     glog.debug("Free speed is %f", self.free_speed * numpy.pi * 2.0 / 60.0 / self.G)
 
     q_pos = 0.20
-    q_vel = 5.5
+    q_vel = 5.0
     self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0],
                            [0.0, (1.0 / (q_vel ** 2.0))]])
 
diff --git a/y2016/control_loops/python/shoulder.py b/y2016/control_loops/python/shoulder.py
index 6beac61..6c07725 100755
--- a/y2016/control_loops/python/shoulder.py
+++ b/y2016/control_loops/python/shoulder.py
@@ -71,7 +71,7 @@
     controllability = controls.ctrb(self.A, self.B)
 
     q_pos = 0.16
-    q_vel = 1.5
+    q_vel = 0.95
     self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0],
                            [0.0, (1.0 / (q_vel ** 2.0))]])
 
diff --git a/y2016/control_loops/python/wrist.py b/y2016/control_loops/python/wrist.py
index 660e577..f08f1a2 100755
--- a/y2016/control_loops/python/wrist.py
+++ b/y2016/control_loops/python/wrist.py
@@ -39,7 +39,7 @@
     # Gear ratio
     self.G = (56.0 / 12.0) * (54.0 / 14.0) * (64.0 / 18.0) * (48.0 / 16.0)
 
-    self.J = 0.20
+    self.J = 0.35
 
     # Control loop time step
     self.dt = 0.005
diff --git a/y2016/control_loops/shooter/shooter.cc b/y2016/control_loops/shooter/shooter.cc
index 0936eea..629b980 100644
--- a/y2016/control_loops/shooter/shooter.cc
+++ b/y2016/control_loops/shooter/shooter.cc
@@ -84,7 +84,17 @@
 
     // Turn the lights on if we are supposed to spin.
     if (output) {
-      if (::std::abs(goal->angular_velocity) > 0.0 || goal->force_lights_on) {
+      if (::std::abs(goal->angular_velocity) > 0.0) {
+        output->lights_on = true;
+        if (goal->shooting_forwards) {
+          output->forwards_flashlight = true;
+          output->backwards_flashlight = false;
+        } else {
+          output->forwards_flashlight = false;
+          output->backwards_flashlight = true;
+        }
+      }
+      if (goal->force_lights_on) {
         output->lights_on = true;
       }
     }
diff --git a/y2016/control_loops/shooter/shooter.q b/y2016/control_loops/shooter/shooter.q
index b799b5a..0e00a02 100644
--- a/y2016/control_loops/shooter/shooter.q
+++ b/y2016/control_loops/shooter/shooter.q
@@ -31,6 +31,9 @@
 
     // Forces the lights on.
     bool force_lights_on;
+
+    // If true, the robot is shooting forwards.
+    bool shooting_forwards;
   };
 
   message Position {
@@ -65,6 +68,9 @@
 
     // If true, the lights are on.
     bool lights_on;
+
+    bool forwards_flashlight;
+    bool backwards_flashlight;
   };
 
   queue Goal goal;
diff --git a/y2016/control_loops/superstructure/BUILD b/y2016/control_loops/superstructure/BUILD
index f633d7b..6a10b61 100644
--- a/y2016/control_loops/superstructure/BUILD
+++ b/y2016/control_loops/superstructure/BUILD
@@ -78,6 +78,7 @@
     '//aos/common/controls:control_loop',
     '//aos/common/util:trapezoid_profile',
     '//aos/common:math',
+    '//y2016/queues:ball_detector',
     '//frc971/control_loops:state_feedback_loop',
     '//frc971/control_loops:simple_capped_state_feedback_loop',
     '//frc971/zeroing',
diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
index e5f0fff..0c1ac6a 100644
--- a/y2016/control_loops/superstructure/superstructure.cc
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -7,6 +7,7 @@
 
 #include "y2016/control_loops/superstructure/integral_intake_plant.h"
 #include "y2016/control_loops/superstructure/integral_arm_plant.h"
+#include "y2016/queues/ball_detector.q.h"
 
 #include "y2016/constants.h"
 
@@ -18,6 +19,7 @@
 // The maximum voltage the intake roller will be allowed to use.
 constexpr float kMaxIntakeTopVoltage = 12.0;
 constexpr float kMaxIntakeBottomVoltage = 12.0;
+constexpr float kMaxClimberVoltage = 12.0;
 
 // Aliases to reduce typing.
 constexpr double kIntakeEncoderIndexDifference =
@@ -46,7 +48,7 @@
   // incorporating a small safety margin makes writing test cases much easier
   // since you can directly compare statuses against the constants in the
   // CollisionAvoidance class.
-  constexpr double kSafetyMargin = 0.02;  // radians
+  constexpr double kSafetyMargin = 0.03;  // radians
 
   // Avoid colliding the shooter with the frame.
   // If the shoulder is below a certain angle or we want to move it below
@@ -80,15 +82,15 @@
       if (wrist_angle > kMaxWristAngleForMovingByIntake ||
           wrist_angle < kMinWristAngleForMovingByIntake) {
         shoulder_angle_goal =
-          ::std::max(original_shoulder_angle_goal,
-              kMinShoulderAngleForIntakeInterference + kSafetyMargin);
+            ::std::max(original_shoulder_angle_goal,
+                       kMinShoulderAngleForIntakeInterference + kSafetyMargin);
       }
     } else {
       if (wrist_angle > kMaxWristAngleForMovingByIntake ||
           wrist_angle < kMinWristAngleForMovingByIntake) {
-        shoulder_angle_goal =
-          ::std::max(original_shoulder_angle_goal,
-              kMinShoulderAngleForIntakeUpInterference + kSafetyMargin);
+        shoulder_angle_goal = ::std::max(
+            original_shoulder_angle_goal,
+            kMinShoulderAngleForIntakeUpInterference + kSafetyMargin);
       }
     }
     if (::std::abs(wrist_angle) > kMaxWristAngleForSafeArmStowing) {
@@ -172,8 +174,7 @@
           CollisionAvoidance::kMaxShoulderAngleUntilSafeIntakeStowing &&
       shoulder_angle <=
           CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference &&
-      intake_angle >
-           CollisionAvoidance::kMaxIntakeAngleBeforeArmInterference) {
+      intake_angle > CollisionAvoidance::kMaxIntakeAngleBeforeArmInterference) {
     LOG(DEBUG, "Collided: Intake %f > %f, and shoulder %f < %f < %f.\n",
         intake_angle, CollisionAvoidance::kMaxIntakeAngleBeforeArmInterference,
         CollisionAvoidance::kMaxShoulderAngleUntilSafeIntakeStowing,
@@ -208,7 +209,7 @@
   if (shoulder_angle <
           CollisionAvoidance::kMinShoulderAngleForHorizontalShooter &&
       ::std::abs(wrist_angle) > kMaxWristAngleForSafeArmStowing) {
-    LOG(DEBUG, "Collided: Shoulder %f < %f and wrist |%f| < %f.\n",
+    LOG(DEBUG, "Collided: Shoulder %f < %f and wrist |%f| > %f.\n",
         shoulder_angle,
         CollisionAvoidance::kMinShoulderAngleForHorizontalShooter, wrist_angle,
         kMaxWristAngleForSafeArmStowing);
@@ -469,6 +470,29 @@
               arm_.unprofiled_goal(2, 0));
         }
 
+        // If we're about to ask the wrist to go past one of its limits, then
+        // move the goal so it will be just at the limit when we finish lifting
+        // the shoulder. If it wasn't intersecting something before, this can't
+        // cause it to crash into anything.
+        const double ungrounded_wrist = arm_.goal(2, 0) - arm_.goal(0, 0);
+        const double unprofiled_ungrounded_wrist =
+            arm_.unprofiled_goal(2, 0) - arm_.unprofiled_goal(0, 0);
+        if (unprofiled_ungrounded_wrist >
+                constants::Values::kWristRange.upper &&
+            ungrounded_wrist >
+                constants::Values::kWristRange.upper - kWristAlmostLevel) {
+          arm_.set_unprofiled_goal(arm_.unprofiled_goal(0, 0),
+                                   constants::Values::kWristRange.upper +
+                                       arm_.unprofiled_goal(0, 0));
+        } else if (unprofiled_ungrounded_wrist <
+                       constants::Values::kWristRange.lower &&
+                   ungrounded_wrist < constants::Values::kWristRange.lower +
+                                          kWristAlmostLevel) {
+          arm_.set_unprofiled_goal(arm_.unprofiled_goal(0, 0),
+                                   constants::Values::kWristRange.lower +
+                                       arm_.unprofiled_goal(0, 0));
+        }
+
         // Wait until we are level and then go for it.
         if (IsArmNear(kLooseTolerance)) {
           state_ = LOW_ARM_ZERO_LEVEL_SHOOTER;
@@ -609,10 +633,28 @@
   const double max_voltage = (state_ == RUNNING || state_ == LANDING_RUNNING)
                                  ? kOperatingVoltage
                                  : kZeroingVoltage;
-  arm_.set_max_voltage(max_voltage, max_voltage);
+  if (unsafe_goal) {
+    constexpr float kTriggerThreshold = 12.0 * 0.90 / 0.005;
+
+    if (unsafe_goal->voltage_climber > 1.0) {
+      kill_shoulder_accumulator_ +=
+          ::std::min(kMaxClimberVoltage, unsafe_goal->voltage_climber);
+    } else {
+      kill_shoulder_accumulator_ = 0.0;
+    }
+
+    if (kill_shoulder_accumulator_ > kTriggerThreshold) {
+      kill_shoulder_ = true;
+    }
+  }
+  arm_.set_max_voltage(
+      kill_shoulder_ ? 0.0 : max_voltage,
+      kill_shoulder_ ? (arm_.X_hat(0, 0) < 0.05 ? kShooterHangingLowVoltage
+                                                : kShooterHangingVoltage)
+                     : max_voltage);
   intake_.set_max_voltage(max_voltage);
 
-  if (IsRunning()) {
+  if (IsRunning() && !kill_shoulder_) {
     // We don't want lots of negative voltage when we are near the bellypan on
     // the shoulder...
     // TODO(austin): Do I want to push negative power into the belly pan at this
@@ -649,16 +691,40 @@
     output->voltage_shoulder = arm_.shoulder_voltage();
     output->voltage_wrist = arm_.wrist_voltage();
 
-    // Logic to run our rollers on the intake.
     output->voltage_top_rollers = 0.0;
     output->voltage_bottom_rollers = 0.0;
+
+    output->voltage_climber = 0.0;
+    output->unfold_climber = false;
     if (unsafe_goal) {
-      output->voltage_top_rollers = ::std::max(
-          -kMaxIntakeTopVoltage,
-          ::std::min(unsafe_goal->voltage_top_rollers, kMaxIntakeTopVoltage));
-      output->voltage_bottom_rollers = ::std::max(
-          -kMaxIntakeBottomVoltage,
-          ::std::min(unsafe_goal->voltage_bottom_rollers, kMaxIntakeBottomVoltage));
+      // Ball detector lights.
+      ::y2016::sensors::ball_detector.FetchLatest();
+      bool ball_detected = false;
+      if (::y2016::sensors::ball_detector.get()) {
+        ball_detected = ::y2016::sensors::ball_detector->voltage > 2.5;
+      }
+
+      // Climber.
+      output->voltage_climber = ::std::max(
+          static_cast<float>(0.0),
+          ::std::min(unsafe_goal->voltage_climber, kMaxClimberVoltage));
+      output->unfold_climber = unsafe_goal->unfold_climber;
+
+      // Intake.
+      if (unsafe_goal->force_intake || !ball_detected) {
+        output->voltage_top_rollers = ::std::max(
+            -kMaxIntakeTopVoltage,
+            ::std::min(unsafe_goal->voltage_top_rollers, kMaxIntakeTopVoltage));
+        output->voltage_bottom_rollers =
+            ::std::max(-kMaxIntakeBottomVoltage,
+                       ::std::min(unsafe_goal->voltage_bottom_rollers,
+                                  kMaxIntakeBottomVoltage));
+      } else {
+        output->voltage_top_rollers = 0.0;
+        output->voltage_bottom_rollers = 0.0;
+      }
+
+      // Traverse.
       output->traverse_unlatched = unsafe_goal->traverse_unlatched;
       output->traverse_down = unsafe_goal->traverse_down;
     }
@@ -697,7 +763,8 @@
   status->intake.unprofiled_goal_angle = intake_.unprofiled_goal(0, 0);
   status->intake.unprofiled_goal_angular_velocity =
       intake_.unprofiled_goal(1, 0);
-  status->intake.calculated_velocity = (intake_.angle() - last_intake_angle_) / 0.005;
+  status->intake.calculated_velocity =
+      (intake_.angle() - last_intake_angle_) / 0.005;
   status->intake.voltage_error = intake_.X_hat(2, 0);
   status->intake.estimator_state = intake_.IntakeEstimatorState();
   status->intake.feedforwards_power = intake_.controller().ff_U(0, 0);
diff --git a/y2016/control_loops/superstructure/superstructure.h b/y2016/control_loops/superstructure/superstructure.h
index 9cd570c..eb16405 100644
--- a/y2016/control_loops/superstructure/superstructure.h
+++ b/y2016/control_loops/superstructure/superstructure.h
@@ -111,6 +111,8 @@
           &control_loops::superstructure_queue);
 
   static constexpr double kZeroingVoltage = 6.0;
+  static constexpr double kShooterHangingVoltage = 6.0;
+  static constexpr double kShooterHangingLowVoltage = 2.0;
   static constexpr double kOperatingVoltage = 12.0;
   static constexpr double kLandingShoulderDownVoltage = -1.5;
 
@@ -232,6 +234,9 @@
   float last_wrist_angle_ = 0.0;
   float last_intake_angle_ = 0.0;
 
+  double kill_shoulder_accumulator_ = 0.0;
+  bool kill_shoulder_ = false;
+
   // Returns true if the profile has finished, and the joint is within the
   // specified tolerance.
   bool IsArmNear(double tolerance);
diff --git a/y2016/control_loops/superstructure/superstructure.q b/y2016/control_loops/superstructure/superstructure.q
index f550512..842beb7 100644
--- a/y2016/control_loops/superstructure/superstructure.q
+++ b/y2016/control_loops/superstructure/superstructure.q
@@ -65,6 +65,13 @@
     float voltage_top_rollers;
     float voltage_bottom_rollers;
 
+    // Voltage to sent to the climber. Positive is pulling the robot up.
+    float voltage_climber;
+    // If true, unlatch the climber and allow it to unfold.
+    bool unfold_climber;
+
+    bool force_intake;
+
     // If true, release the latch which holds the traverse mechanism in the
     // middle.
     bool traverse_unlatched;
@@ -116,6 +123,11 @@
     float voltage_top_rollers;
     float voltage_bottom_rollers;
 
+    // Voltage to sent to the climber. Positive is pulling the robot up.
+    float voltage_climber;
+    // If true, release the latch to trigger the climber to unfold.
+    bool unfold_climber;
+
     // If true, release the latch to hold the traverse mechanism in the middle.
     bool traverse_unlatched;
     // If true, fire the traverse mechanism down.
diff --git a/y2016/control_loops/superstructure/superstructure_lib_test.cc b/y2016/control_loops/superstructure/superstructure_lib_test.cc
index 9fdec26..02f7ae2 100644
--- a/y2016/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2016/control_loops/superstructure/superstructure_lib_test.cc
@@ -795,7 +795,7 @@
   RunForTime(Time::InSeconds(2), false);
   EXPECT_EQ(Superstructure::DISABLED_INITIALIZED, superstructure_.state());
 
-  superstructure_plant_.set_power_error(1.0, 1.0, 1.0);
+  superstructure_plant_.set_power_error(1.0, 1.5, 1.0);
 
   RunForTime(Time::InSeconds(1), false);
 
diff --git a/y2016/dashboard/BUILD b/y2016/dashboard/BUILD
new file mode 100644
index 0000000..65e650c
--- /dev/null
+++ b/y2016/dashboard/BUILD
@@ -0,0 +1,37 @@
+load('/aos/externals/seasocks/gen_embedded', 'gen_embedded')
+load('/aos/downloader/downloader', 'aos_downloader_dir')
+
+gen_embedded(
+  name = 'gen_embedded',
+  srcs = glob(['www_defaults/**/*'], ['www/**/*']),
+)
+
+aos_downloader_dir(
+  name = 'www_files',
+  visibility = ['//visibility:public'],
+  srcs = glob([
+    'www/**/*',
+  ]),
+  dir = "www",
+)
+
+cc_binary(
+  name = 'dashboard',
+  visibility = ['//visibility:public'],
+  srcs = [
+    'dashboard.cc',
+    'dashboard.h',
+  ],
+  deps = [
+    ':gen_embedded',
+    '//aos/linux_code:init',
+    '//aos/common/logging',
+    '//aos/common/util:phased_loop',
+    '//aos/common:time',
+    '//third_party/seasocks',
+    '//y2016/actors:autonomous_action_queue',
+    '//y2016/vision:vision_queue',
+    '//y2016/control_loops/superstructure:superstructure_queue',
+    '//y2016/queues:ball_detector',
+  ],
+)
diff --git a/y2016/dashboard/dashboard.cc b/y2016/dashboard/dashboard.cc
new file mode 100644
index 0000000..bdfedb8
--- /dev/null
+++ b/y2016/dashboard/dashboard.cc
@@ -0,0 +1,302 @@
+#include "y2016/dashboard/dashboard.h"
+
+#include <iostream>
+#include <sstream>
+#include <string>
+#include <thread>
+#include <vector>
+#include <complex>
+
+#include "seasocks/Server.h"
+
+#include "aos/linux_code/init.h"
+#include "aos/common/logging/logging.h"
+#include "aos/common/time.h"
+#include "aos/common/util/phased_loop.h"
+#include "aos/common/mutex.h"
+
+#include "y2016/actors/autonomous_action.q.h"
+#include "y2016/vision/vision.q.h"
+#include "y2016/control_loops/superstructure/superstructure.q.h"
+#include "y2016/queues/ball_detector.q.h"
+
+#include "y2016/dashboard/embedded.h"
+
+namespace y2016 {
+namespace dashboard {
+namespace big_indicator {
+constexpr int kBlack = 0;
+constexpr int kBallIntaked = 1;
+constexpr int kAiming = 2;
+constexpr int kLockedOn = 3;
+}  // namespace big_indicator
+
+namespace superstructure_indicator {
+constexpr int kBlack = 0;
+constexpr int kNotZeroed = 1;
+constexpr int kEstopped = 2;
+}  // namespace superstructure_indicator
+
+// Define the following if we want to use a local www directory and feed in
+// dummy data.
+//#define DASHBOARD_TESTING
+
+// Define the following if we want to read from the vision queue, which has
+// caused problems in the past when auto aiming that still need to be addressed.
+//#define DASHBOARD_READ_VISION_QUEUE
+
+DataCollector::DataCollector()
+    : cur_raw_data_("no data"),
+      sample_id_(0),
+      measure_index_(0),
+      overflow_id_(20) {}
+
+void DataCollector::RunIteration() {
+  ::aos::MutexLocker locker(&mutex_);
+  measure_index_ = 0;
+
+// Add recorded data here. /////
+#ifdef DASHBOARD_TESTING
+  // The following feeds data into the webserver when we do not have a process
+  // feeding data to the queues.
+  // To test, we are sending three streams holding randomly generated numbers.
+  AddPoint("test", ::std::rand() % 4);
+  AddPoint("test2", ::std::rand() % 3);
+  AddPoint("test3", ::std::rand() % 3 - 1);
+  (void)big_indicator::kBlack;
+  (void)big_indicator::kBallIntaked;
+  (void)big_indicator::kAiming;
+  (void)big_indicator::kLockedOn;
+  (void)superstructure_indicator::kBlack;
+  (void)superstructure_indicator::kNotZeroed;
+  (void)superstructure_indicator::kEstopped;
+#else
+  int big_indicator = big_indicator::kBlack;
+  int superstructure_state_indicator = superstructure_indicator::kBlack;
+  // We should never have a -1 here, so this is an indicator that somethings
+  // gone wrong with reading the auto queue.
+  int auto_mode_indicator = -1;
+
+  ::y2016::actors::auto_mode.FetchLatest();
+  ::y2016::control_loops::superstructure_queue.status.FetchLatest();
+  ::y2016::sensors::ball_detector.FetchLatest();
+  ::y2016::vision::vision_status.FetchLatest();
+
+// Caused glitching with auto-aim at NASA, so be cautious with this until
+// we find a good fix.
+#ifdef DASHBOARD_READ_VISION_QUEUE
+  if (::y2016::vision::vision_status.get() &&
+      (::y2016::vision::vision_status->left_image_valid ||
+       ::y2016::vision::vision_status->right_image_valid)) {
+    big_indicator = big_indicator::kAiming;
+    if (::std::abs(::y2016::vision::vision_status->horizontal_angle) < 0.002) {
+      big_indicator = big_indicator::kLockedOn;
+    }
+  }
+#else
+  (void)big_indicator::kAiming;
+  (void)big_indicator::kLockedOn;
+#endif
+
+  // Ball detector comes after vision because we want to prioritize that
+  // indication.
+  if (::y2016::sensors::ball_detector.get()) {
+    // TODO(comran): Grab detected voltage from joystick_reader. Except this
+    // value may not change, so it may be worth it to keep it as it is right
+    // now.
+    if (::y2016::sensors::ball_detector->voltage > 2.5) {
+      big_indicator = big_indicator::kBallIntaked;
+    }
+  }
+
+  if (::y2016::control_loops::superstructure_queue.status.get()) {
+    if (!::y2016::control_loops::superstructure_queue.status->zeroed) {
+      superstructure_state_indicator = superstructure_indicator::kNotZeroed;
+    }
+    if (::y2016::control_loops::superstructure_queue.status->estopped) {
+      superstructure_state_indicator = superstructure_indicator::kEstopped;
+    }
+  }
+
+  if (::y2016::actors::auto_mode.get()) {
+    auto_mode_indicator = ::y2016::actors::auto_mode->mode;
+  }
+
+  AddPoint("big indicator", big_indicator);
+  AddPoint("superstructure state indicator", superstructure_state_indicator);
+  AddPoint("auto mode indicator", auto_mode_indicator);
+#endif
+
+  // Get ready for next iteration. /////
+  sample_id_++;
+}
+
+void DataCollector::AddPoint(const ::std::string &name, double value) {
+  // Mutex should be locked when this method is called to synchronize packets.
+  CHECK(mutex_.OwnedBySelf());
+
+  size_t index = GetIndex(sample_id_);
+
+  ItemDatapoint datapoint{value, ::aos::time::Time::Now()};
+  if (measure_index_ >= sample_items_.size()) {
+    // New item in our data table.
+    ::std::vector<ItemDatapoint> datapoints;
+    SampleItem item{name, datapoints};
+    sample_items_.emplace_back(item);
+  } else if (index >= sample_items_.at(measure_index_).datapoints.size()) {
+    // New data point for an already existing item.
+    sample_items_.at(measure_index_).datapoints.emplace_back(datapoint);
+  } else {
+    // Overwrite an already existing data point for an already existing item.
+    sample_items_.at(measure_index_).datapoints.at(index) = datapoint;
+  }
+
+  measure_index_++;
+}
+
+::std::string DataCollector::Fetch(int32_t from_sample) {
+  ::aos::MutexLocker locker(&mutex_);
+
+  ::std::stringstream message;
+  message.precision(10);
+
+  // Send out the names of each item when requested by the client.
+  // Example: *item_one_name,item_two_name,item_three_name
+  if (from_sample == 0) {
+    message << "*";  // Begin name packet.
+
+    // Add comma-separated list of names.
+    for (size_t cur_data_name = 0; cur_data_name < sample_items_.size();
+         cur_data_name++) {
+      if (cur_data_name > 0) {
+        message << ",";
+      }
+      message << sample_items_.at(cur_data_name).name;
+    }
+    return message.str();
+  }
+
+  // Send out one sample containing the data.
+  // Samples are split with dollar signs, info with percent signs, and
+  // measurements with commas.
+  // Example of data with two samples: $289%2803.13%10,67$290%2803.14%12,68
+
+  // Note that we are ignoring the from_sample being sent to keep up with the
+  // live data without worrying about client lag.
+  int32_t cur_sample = sample_id_ - 2;
+  int32_t adjusted_index = GetIndex(cur_sample);
+  message << "$";  // Begin data packet.
+
+  // Make sure we are not out of range.
+  if (static_cast<size_t>(adjusted_index) <
+      sample_items_.at(0).datapoints.size()) {
+    message << cur_sample << "%"
+            << sample_items_.at(0)
+                   .datapoints.at(adjusted_index)
+                   .time.ToSeconds() << "%";  // Send time.
+    // Add comma-separated list of data points.
+    for (size_t cur_measure = 0; cur_measure < sample_items_.size();
+         cur_measure++) {
+      if (cur_measure > 0) {
+        message << ",";
+      }
+      message << sample_items_.at(cur_measure)
+                     .datapoints.at(adjusted_index)
+                     .value;
+    }
+  }
+
+  return message.str();
+}
+
+size_t DataCollector::GetIndex(size_t sample_id) {
+  return sample_id % overflow_id_;
+}
+
+void DataCollector::operator()() {
+  ::aos::SetCurrentThreadName("DashboardData");
+
+  while (run_) {
+    ::aos::time::PhasedLoopXMS(100, 0);
+    RunIteration();
+  }
+}
+
+SocketHandler::SocketHandler()
+    : data_collector_thread_(::std::ref(data_collector_)) {}
+
+void SocketHandler::onConnect(seasocks::WebSocket *connection) {
+  connections_.insert(connection);
+  LOG(INFO, "Connected: %s : %s\n", connection->getRequestUri().c_str(),
+      seasocks::formatAddress(connection->getRemoteAddress()).c_str());
+}
+
+void SocketHandler::onData(seasocks::WebSocket *connection, const char *data) {
+  int32_t from_sample = atoi(data);
+
+  ::std::string send_data = data_collector_.Fetch(from_sample);
+  connection->send(send_data.c_str());
+}
+
+void SocketHandler::onDisconnect(seasocks::WebSocket *connection) {
+  connections_.erase(connection);
+  LOG(INFO, "Disconnected: %s : %s\n", connection->getRequestUri().c_str(),
+      seasocks::formatAddress(connection->getRemoteAddress()).c_str());
+}
+
+void SocketHandler::Quit() {
+  data_collector_.Quit();
+  data_collector_thread_.join();
+}
+
+SeasocksLogger::SeasocksLogger(Level min_level_to_log)
+    : PrintfLogger(min_level_to_log) {}
+
+void SeasocksLogger::log(Level level, const char *message) {
+  // Convert Seasocks error codes to AOS.
+  log_level aos_level;
+  switch (level) {
+    case seasocks::Logger::INFO:
+      aos_level = INFO;
+      break;
+    case seasocks::Logger::WARNING:
+      aos_level = WARNING;
+      break;
+    case seasocks::Logger::ERROR:
+    case seasocks::Logger::SEVERE:
+      aos_level = ERROR;
+      break;
+    case seasocks::Logger::DEBUG:
+    case seasocks::Logger::ACCESS:
+    default:
+      aos_level = DEBUG;
+      break;
+  }
+  LOG(aos_level, "Seasocks: %s\n", message);
+}
+
+}  // namespace dashboard
+}  // namespace y2016
+
+int main(int, char *[]) {
+  ::aos::InitNRT();
+
+  ::seasocks::Server server(::std::shared_ptr<seasocks::Logger>(
+      new ::y2016::dashboard::SeasocksLogger(seasocks::Logger::INFO)));
+  ::y2016::dashboard::SocketHandler socket_handler;
+
+  server.addWebSocketHandler(
+      "/ws",
+      ::std::shared_ptr<::y2016::dashboard::SocketHandler>(&socket_handler));
+#ifdef DASHBOARD_TESTING
+  server.serve("www", 1180);
+#else
+  // Absolute directory of www folder on the robot.
+  server.serve("/home/admin/robot_code/www", 1180);
+#endif
+
+  socket_handler.Quit();
+
+  ::aos::Cleanup();
+  return 0;
+}
diff --git a/y2016/dashboard/dashboard.h b/y2016/dashboard/dashboard.h
new file mode 100644
index 0000000..003820c
--- /dev/null
+++ b/y2016/dashboard/dashboard.h
@@ -0,0 +1,96 @@
+#include <iostream>
+#include <memory>
+#include <sstream>
+#include <string>
+#include <thread>
+#include <atomic>
+#include <vector>
+
+#include "seasocks/PageHandler.h"
+#include "seasocks/PrintfLogger.h"
+#include "seasocks/StringUtil.h"
+#include "seasocks/WebSocket.h"
+
+#include "aos/linux_code/init.h"
+#include "aos/common/time.h"
+#include "aos/common/util/phased_loop.h"
+#include "aos/common/mutex.h"
+
+namespace y2016 {
+namespace dashboard {
+
+// Dashboard is a webserver that opens a socket and stream data from the robot
+// to the client. It is divided between the DataCollector, which polls
+// RunIteration to determine what to send to the client, and an instance of a
+// Seasocks server, which initiates a webserver on a port and opens a socket
+// for streaming data.
+
+// It is an adaption of http_status, which was a 2015 project
+// that plotted live position data from the robot queues on a webpage for
+// debugging.
+
+class DataCollector {
+ public:
+  DataCollector();
+  void RunIteration();
+
+  // Store a datapoint. In this case, we are reading data points to determine
+  // what color to display on the webpage indicators. Traditionally, this would
+  // be used to plot live data on a graph on the page.
+  void AddPoint(const ::std::string &name, double value);
+
+  // Method called by the websocket to get a JSON-packaged string containing,
+  // at most, a constant number of samples, starting at from_sample.
+  ::std::string Fetch(int32_t from_sample);
+
+  void operator()();
+  void Quit() { run_ = false; }
+
+ private:
+  // Returns a wrapped index based on the overflow size.
+  size_t GetIndex(size_t sample_id);
+
+  struct ItemDatapoint {
+    double value;
+    ::aos::time::Time time;
+  };
+
+  struct SampleItem {
+    ::std::string name;
+    ::std::vector<ItemDatapoint> datapoints;
+  };
+
+  // Storage vector that is written and overwritten with data in a FIFO fashion.
+  ::std::vector<SampleItem> sample_items_;
+
+  ::std::string cur_raw_data_;
+  int32_t sample_id_;          // Last sample id used.
+  size_t measure_index_;      // Last measure index used.
+  const int32_t overflow_id_;  // Vector wrapping size.
+
+  ::std::atomic<bool> run_{true};
+  ::aos::Mutex mutex_;
+};
+
+class SocketHandler : public seasocks::WebSocket::Handler {
+ public:
+  SocketHandler();
+  void onConnect(seasocks::WebSocket* connection) override;
+  void onData(seasocks::WebSocket* connection, const char* data) override;
+  void onDisconnect(seasocks::WebSocket* connection) override;
+  void Quit();
+
+ private:
+  ::std::set<seasocks::WebSocket*> connections_;
+  DataCollector data_collector_;
+  ::std::thread data_collector_thread_;
+};
+
+class SeasocksLogger : public seasocks::PrintfLogger {
+ public:
+  SeasocksLogger(Level min_level_to_log);
+  void log(Level level, const char* message) override;
+};
+
+}  // namespace dashboard
+}  // namespace y2016
diff --git a/y2016/dashboard/www/index.html b/y2016/dashboard/www/index.html
new file mode 100644
index 0000000..da5512f
--- /dev/null
+++ b/y2016/dashboard/www/index.html
@@ -0,0 +1,245 @@
+<!DOCTYPE html>
+<html>
+<head>
+<title>Spartan Dashboard</title>
+
+<script type="text/javascript">
+var escapable =
+  /[\x00-\x1f\ud800-\udfff\u200c-\u200f\u2028-\u202f\u2060-\u206f\ufff0-\uffff]/g;
+var ws;
+var intervalTime = 50;
+var selected = 0;
+var reconnecting = false;
+var lastSampleID = 0;
+var resetTimeout;
+
+// Filter out junky JSON packets that will otherwise cause nasty decoding
+// errors. These errors come as a result of incomplete packets, corrupted data,
+// or any other artifacts that find themselves into the socket stream.
+
+function filterUnicode(quoted) {
+  escapable.lastIndex = 0;
+  if (!escapable.test(quoted)) return quoted;
+
+  return quoted.replace(escapable, '');
+}
+
+// Change the current data index to plot on the graph.
+// Get a new JSON packet from the websocket on the robot.
+function refresh() {
+  if (!reconnecting) ws.send(lastSampleID);
+}
+
+function initSocketLoop() {
+  ws = new WebSocket('ws://' + document.location.host + '/ws');
+
+  var numDatas = 0;
+
+  $(function() {
+
+    // Socket created & first opened.
+    ws.onopen = function() {
+      reconnecting = false;
+      refresh();
+      $('#message').text('');
+    };
+
+    // Socket disconnected.
+    ws.onclose = function() {
+      console.log('onclose');
+      reconnect();
+    };
+
+    ws.onmessage = function(message) {
+      message = message.data;
+      if(message.charAt(0) == "*"){
+        message = message.substring(1);
+        var names = message.split(",");
+        for (var i = numDatas; i < names.length; i++) {
+          $('#dataTable').append('<tr><td>' + names[i] + '</td><td></td></tr>');
+          numDatas++;
+        }
+        lastSampleID = 1;
+      }else{
+        var samples = message.split("$");
+        for(var x = 0;x < samples.length;x++){
+          var info = samples[x].split("%");
+          lastSampleID = info[0];
+
+          if(!(typeof info[2] === "undefined")){
+            var values = info[2].split(",");
+
+            // For the big indicator.
+            switch(parseInt(values[0])){
+              case 1:
+                $("#bigIndicator").css("background", "#00FF00");
+                $("#bigIndicator").css("color", "#000000");
+                $("#bigIndicator").text("Ball detected");
+                break;
+              case 2:
+                $("#bigIndicator").css("background", "#FFFF00");
+                $("#bigIndicator").css("color", "#000000");
+                $("#bigIndicator").text("Target seen");
+                break;
+              case 3:
+                $("#bigIndicator").css("background", "#0000FF");
+                $("#bigIndicator").css("color", "#000000");
+                $("#bigIndicator").text("Target aligned");
+                break;
+              case 0:
+              default:
+                $("#bigIndicator").css("background", "#000000");
+                $("#bigIndicator").css("color", "#444444");
+                $("#bigIndicator").text("No ball, no target");
+                break;
+            }
+
+            // Superstructure state indicator.
+            switch(parseInt(values[1])){
+              case 1:
+                $("#superstructureStateIndicator").css("background", "#FF0000");
+                $("#superstructureStateIndicator").css("color", "#000000");
+                $("#superstructureStateIndicator").text("Not zeroed");
+                break;
+              case 2:
+                $("#superstructureStateIndicator").css("background", "#FF8C00");
+                $("#superstructureStateIndicator").css("color", "#000000");
+                $("#superstructureStateIndicator").text("Estopped");
+                break;
+              case 0:
+              default:
+                $("#superstructureStateIndicator").css("background", "#000000");
+                $("#superstructureStateIndicator").css("color", "#444444");
+                $("#superstructureStateIndicator").text("Superstructure OK");
+                break;
+            }
+
+            // Auto mode indicator.
+            $("#autoModeIndicator").text("Mode: " + values[2]);
+            if (parseInt(values[2]) < 0){
+              $("#autoModeIndicator").css("visibility", "hidden");
+            } else {
+              $("#autoModeIndicator").css("visibility", "visible");
+            }
+
+            // Populate data table.
+            for(var y = 0;y < values.length;y++){
+              if(!(typeof info[1] === "undefined"
+                    || typeof values[y] === "undefined")){
+                $('#dataTable').find('tr').eq(y).find('td').eq(1)
+                  .text(values[y]);
+              }
+            }
+          }
+        }
+      }
+
+      setTimeout(refresh, intervalTime);
+    };
+
+    // Socket error, most likely due to a server-side error.
+    ws.onerror = function(error) {
+      console.log('onerror ' + error);
+    };
+  });
+}
+
+function reconnect() {
+  $('#message').text('Reconnecting...');
+  $('#dataTable').empty();
+  lastSampleID = 0;
+  reconnecting = true;
+
+  setTimeout(function(){
+    initSocketLoop()
+  }, 500);
+}
+
+window.onload = function() {
+  initSocketLoop();
+}
+</script>
+<script type="text/javascript" src='jquery-2.2.3.min.js'></script>
+<style>
+body {
+  width: 100%;
+  margin-left: auto;
+  margin-right:auto;
+}
+
+#dataTable {
+  position: absolute;
+  top: 0;
+  background: #FFFFFF;
+  left: 0;
+  width: 200px;
+  cell-spacing:0;
+  cell-padding:0;
+  text-align: left;
+  z-index: 99999;
+}
+
+#headsUpDisplay {
+  width: 1000px;
+  position: absolute;
+  margin-left: auto;
+  margin-right: auto;
+  left: 0;
+  right: 0;
+  z-index: 10000000;
+}
+
+#message {
+  color: #FF0000;
+  text-align: center;
+  background: #000000;
+  font-size: 100px;
+}
+
+#indicatorContainer {
+  width: 100%;
+  height: 100%;
+  position: absolute;
+  top: 0;
+  left: 0;
+  background: #000000;
+  text-align: center;
+  font-size: 100px;
+}
+
+#bigIndicator {
+  background: #000000;
+}
+
+#superstructureStateIndicator {
+  background: #000000;
+  width: 60%;
+}
+
+#autoModeIndicator {
+  background: #FF0000;
+}
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+</head>
+<body>
+<!-- Data -->
+<table id="dataTable">
+</table>
+
+<div id="headsUpDisplay">
+  <p id="message"></p>
+  <p id="data"></p>
+</div>
+
+<table id="indicatorContainer">
+  <tr>
+    <td id="bigIndicator" colspan="2">Ball detected</td>
+  </tr>
+  <tr style="height:10%">
+    <td id="superstructureStateIndicator">Superstructure state</td>
+    <td id="autoModeIndicator">Auto mode</td>
+  </tr>
+</table>
+
+</body>
+</html>
diff --git a/y2016/dashboard/www/jquery-2.2.3.min.js b/y2016/dashboard/www/jquery-2.2.3.min.js
new file mode 100644
index 0000000..b8c4187
--- /dev/null
+++ b/y2016/dashboard/www/jquery-2.2.3.min.js
@@ -0,0 +1,4 @@
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diff --git a/y2016/dashboard/www_defaults/_404.png b/y2016/dashboard/www_defaults/_404.png
new file mode 100644
index 0000000..8a43cb8
--- /dev/null
+++ b/y2016/dashboard/www_defaults/_404.png
Binary files differ
diff --git a/y2016/dashboard/www_defaults/_error.css b/y2016/dashboard/www_defaults/_error.css
new file mode 100644
index 0000000..565d0a4
--- /dev/null
+++ b/y2016/dashboard/www_defaults/_error.css
@@ -0,0 +1,60 @@
+/*
+From Seasocks version 1.1.2, under /src/main/web
+
+Copyright (c) 2013, Matt Godbolt
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without 
+modification, are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this 
+list of conditions and the following disclaimer.
+Redistributions in binary form must reproduce the above copyright notice, this 
+list of conditions and the following disclaimer in the documentation and/or 
+other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+body {
+    font-family: segoe ui, tahoma, arial, sans-serif;
+    color: #ffffff;
+    background-color: #c21e29;
+    text-align: center;
+}
+
+a {
+    color: #ffff00;
+}
+
+.footer {
+    font-style: italic;
+}
+
+.message {
+    display: inline-block;
+    border: 1px solid white;
+    padding: 50px;
+    font-size: 20px;
+}
+
+.headline {
+    padding: 50px;
+    font-weight: bold;
+    font-size: 32px;
+}
+
+.footer {
+    padding-top: 50px;
+    font-size: 12px;
+}
+
diff --git a/y2016/dashboard/www_defaults/_error.html b/y2016/dashboard/www_defaults/_error.html
new file mode 100644
index 0000000..e3d422d
--- /dev/null
+++ b/y2016/dashboard/www_defaults/_error.html
@@ -0,0 +1,42 @@
+<!--
+From Seasocks version 1.1.2, under /src/main/web
+
+Copyright (c) 2013, Matt Godbolt
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without 
+modification, are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this 
+list of conditions and the following disclaimer.
+Redistributions in binary form must reproduce the above copyright notice, this 
+list of conditions and the following disclaimer in the documentation and/or 
+other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<html DOCTYPE=html>
+<head>
+  <title>%%ERRORCODE%% - %%MESSAGE%% - Keep Calm And Carry On!</title>
+  <link href="/_error.css" rel="stylesheet">
+</head>
+<body>
+  <div class="message">
+    <img src="/_404.png" height="200" width="107">
+    <div class="headline">HTTP_STATUS: %%ERRORCODE%% &#8212; %%MESSAGE%%</div>
+    <div class="info">%%BODY%%</div>
+  </div>
+
+  <div class="footer">http_status developed by 971 Spartan Robotics. Server powered by <a href="https://github.com/mattgodbolt/seasocks">SeaSocks</a>. Contact Comran Morshed(comranmorsh@gmail.com) if this 404 error should not be happening...</div>
+</body>
+</html>
diff --git a/y2016/dashboard/www_defaults/_seasocks.css b/y2016/dashboard/www_defaults/_seasocks.css
new file mode 100644
index 0000000..5f0b655
--- /dev/null
+++ b/y2016/dashboard/www_defaults/_seasocks.css
@@ -0,0 +1,49 @@
+/*
+From Seasocks version 1.1.2, under /src/main/web
+
+Copyright (c) 2013, Matt Godbolt
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without 
+modification, are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this 
+list of conditions and the following disclaimer.
+Redistributions in binary form must reproduce the above copyright notice, this 
+list of conditions and the following disclaimer in the documentation and/or 
+other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+body {
+    font-family: segoe ui, tahoma, arial, sans-serif;
+    font-size: 12px;
+    color: #ffffff;
+    background-color: #333333;
+    margin: 0;
+}
+
+a {
+    color: #ffff00;
+}
+
+table {
+    border-collapse: collapse;
+    width: 100%;
+    text-align: center;
+}
+
+.template {
+    display: none;
+}
+
diff --git a/y2016/dashboard/www_defaults/_stats.html b/y2016/dashboard/www_defaults/_stats.html
new file mode 100644
index 0000000..2390334
--- /dev/null
+++ b/y2016/dashboard/www_defaults/_stats.html
@@ -0,0 +1,88 @@
+<!--
+From Seasocks version 1.1.2, under /src/main/web
+
+Copyright (c) 2013, Matt Godbolt
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without 
+modification, are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this 
+list of conditions and the following disclaimer.
+Redistributions in binary form must reproduce the above copyright notice, this 
+list of conditions and the following disclaimer in the documentation and/or 
+other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<html DOCTYPE=html>
+<head>
+  <title>SeaSocks Stats</title>
+  <link href="/_seasocks.css" rel="stylesheet">
+  <script src="/_jquery.min.js" type="text/javascript"></script>
+  <script>
+  function clear() {
+    $('#cx tbody tr:visible').remove();
+  }
+  function connection(stats) {
+    c = $('#cx .template').clone().removeClass('template').appendTo('#cx');
+    for (stat in stats) {
+      c.find('.' + stat).text(stats[stat]);
+    }
+  }
+  function refresh() {
+    var stats = new XMLHttpRequest();
+    stats.open("GET", "/_livestats.js", false);
+    stats.send(null);
+    eval(stats.responseText);
+  }
+  $(function() {
+    setInterval(refresh, 1000);
+    refresh();
+  });
+  </script>
+</head>
+<body><h1>SeaSocks Stats</h1></body>
+
+<h2>Connections</h2>
+<table id="cx">
+  <thead>
+    <tr>
+      <th>Connection time</th>
+      <th>Fd</th>
+      <th>Addr</th>
+      <th>URI</th>
+      <th>Username</th>
+      <th>Pending read</th>
+      <th>Bytes read</th>
+      <th>Pending send</th>
+      <th>Bytes sent</th>
+    </tr>
+  </thead>
+  <tbody>
+    <tr class="template">
+      <td class="since"></td>
+      <td class="fd"></td>
+      <td class="addr"></td>
+      <td class="uri"></td>
+      <td class="user"></td>
+      <td class="input"></td>
+      <td class="read"></td>
+      <td class="output"></td>
+      <td class="written"></td>
+    </tr>
+  </tbody>
+</table>
+
+</body>
+</html>
diff --git a/y2016/dashboard/www_defaults/favicon.ico b/y2016/dashboard/www_defaults/favicon.ico
new file mode 100644
index 0000000..bedac26
--- /dev/null
+++ b/y2016/dashboard/www_defaults/favicon.ico
Binary files differ
diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index 0023ac8..45733ff 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -23,6 +23,7 @@
 #include "frc971/autonomous/auto.q.h"
 #include "y2016/actors/autonomous_actor.h"
 #include "y2016/actors/vision_align_actor.h"
+#include "y2016/actors/superstructure_actor.h"
 #include "y2016/control_loops/drivetrain/drivetrain_base.h"
 
 using ::frc971::control_loops::drivetrain_queue;
@@ -55,7 +56,6 @@
 // Buttons on the lexan driver station to get things running on bring-up day.
 const ButtonLocation kIntakeDown(3, 11);
 const POVLocation kFrontLong(3, 180);
-const ButtonLocation kHigherFrontLong(3, 6);
 const POVLocation kBackLong(3, 0);
 const POVLocation kBackFender(3, 90);
 const POVLocation kFrontFender(3, 270);
@@ -67,6 +67,9 @@
 
 const ButtonLocation kVisionAlign(3, 4);
 
+const ButtonLocation kExpand(3, 6);
+const ButtonLocation kWinch(3, 5);
+
 class Reader : public ::aos::input::JoystickInput {
  public:
   Reader()
@@ -122,12 +125,19 @@
 
     const double wheel = -data.GetAxis(kSteeringWheel);
     const double throttle = -data.GetAxis(kDriveThrottle);
+    drivetrain_queue.status.FetchLatest();
 
-    if (data.IsPressed(kVisionAlign) && vision_valid_ &&
-        !vision_action_running_) {
-      actors::VisionAlignActionParams params;
-      action_queue_.EnqueueAction(actors::MakeVisionAlignAction(params));
-      vision_action_running_ = true;
+    if (data.IsPressed(kVisionAlign)) {
+      if (vision_valid_ && !vision_action_running_) {
+        actors::VisionAlignActionParams params;
+        action_queue_.EnqueueAction(actors::MakeVisionAlignAction(params));
+        vision_action_running_ = true;
+        LOG(INFO, "Starting vision align\n");
+      } else {
+        if (!vision_valid_) {
+          LOG(INFO, "Vision align but not valid\n");
+        }
+      }
     }
 
     if (data.NegEdge(kVisionAlign)) {
@@ -138,12 +148,11 @@
     }
 
     // Don't do any normal drivetrain stuff if vision is in charge.
-    if (was_running_) {
+    if (vision_action_running_) {
       return;
     }
 
     if (data.PosEdge(kTurn1) || data.PosEdge(kTurn2)) {
-      drivetrain_queue.status.FetchLatest();
       if (drivetrain_queue.status.get()) {
         left_goal = drivetrain_queue.status->estimated_left_position;
         right_goal = drivetrain_queue.status->estimated_right_position;
@@ -176,6 +185,7 @@
   }
 
   void HandleTeleop(const ::aos::input::driver_station::Data &data) {
+    float voltage_climber = 0.0;
     // Default the intake to up.
     intake_goal_ = constants::Values::kIntakeRange.upper - 0.04;
 
@@ -209,41 +219,66 @@
       }
     }
 
-    if (data.IsPressed(kHigherFrontLong)) {
+    if (data.IsPressed(kFrontLong)) {
       // Forwards shot
       shoulder_goal_ = M_PI / 2.0 + 0.1;
-      wrist_goal_ = M_PI + 0.43;
-      shooter_velocity_ = 640.0;
-      intake_goal_ = intake_when_shooting;
-    } else if (data.IsPressed(kFrontLong)) {
-      // Forwards shot
-      shoulder_goal_ = M_PI / 2.0 + 0.1;
-      wrist_goal_ = M_PI + 0.40;
+      wrist_goal_ = M_PI + 0.41 + 0.02 - 0.005;
+      if (drivetrain_queue.status.get()) {
+        wrist_goal_ += drivetrain_queue.status->ground_angle;
+      }
       shooter_velocity_ = 640.0;
       intake_goal_ = intake_when_shooting;
     } else if (data.IsPressed(kBackLong)) {
       // Backwards shot
       shoulder_goal_ = M_PI / 2.0 - 0.4;
-      wrist_goal_ = -0.62;
+      wrist_goal_ = -0.62 - 0.02;
+      if (drivetrain_queue.status.get()) {
+        wrist_goal_ += drivetrain_queue.status->ground_angle;
+      }
       shooter_velocity_ = 640.0;
       intake_goal_ = intake_when_shooting;
     } else if (data.IsPressed(kBackFender)) {
       // Fender shot back
-      shoulder_goal_ = 0.65;
-      wrist_goal_ = -1.20;
-      shooter_velocity_ = 550.0;
+      shoulder_goal_ = M_PI / 2.0 - 0.2;
+      wrist_goal_ = -0.55;
+      shooter_velocity_ = 600.0;
       intake_goal_ = intake_when_shooting;
     } else if (data.IsPressed(kFrontFender)) {
-      // Fender shot back
-      shoulder_goal_ = 1.45;
-      wrist_goal_ = 2.5 + 1.7;
-      shooter_velocity_ = 550.0;
+      // Forwards shot, higher
+      shoulder_goal_ = M_PI / 2.0 + 0.1;
+      wrist_goal_ = M_PI + 0.41 + 0.02 + 0.020;
+      if (drivetrain_queue.status.get()) {
+        wrist_goal_ += drivetrain_queue.status->ground_angle;
+      }
+      shooter_velocity_ = 640.0;
       intake_goal_ = intake_when_shooting;
+    } else if (data.IsPressed(kExpand) || data.IsPressed(kWinch)) {
+      // Set the goals to the hanging position so when the actor finishes, we
+      // will still be at the right spot.
+      shoulder_goal_ = 1.2;
+      wrist_goal_ = 1.0;
+      intake_goal_ = 0.0;
+      if (data.PosEdge(kExpand)) {
+        is_expanding_ = true;
+        actors::SuperstructureActionParams params;
+        params.partial_angle = 0.3;
+        params.delay_time = 0.7;
+        params.full_angle = shoulder_goal_;
+        params.shooter_angle = wrist_goal_;
+        action_queue_.EnqueueAction(actors::MakeSuperstructureAction(params));
+      }
+      if (data.IsPressed(kWinch)) {
+        voltage_climber = 12.0;
+      }
     } else {
       wrist_goal_ = 0.0;
       shoulder_goal_ = -0.010;
       shooter_velocity_ = 0.0;
     }
+    if (data.NegEdge(kExpand) || voltage_climber > 1.0) {
+      is_expanding_ = false;
+      action_queue_.CancelAllActions();
+    }
 
     bool ball_detected = false;
     ::y2016::sensors::ball_detector.FetchLatest();
@@ -329,50 +364,59 @@
     }
 
     if (!waiting_for_zero_) {
-      auto new_superstructure_goal = superstructure_queue.goal.MakeMessage();
-      new_superstructure_goal->angle_intake = intake_goal_;
-      new_superstructure_goal->angle_shoulder = shoulder_goal_;
-      new_superstructure_goal->angle_wrist = wrist_goal_;
+      if (!is_expanding_) {
+        auto new_superstructure_goal = superstructure_queue.goal.MakeMessage();
+        new_superstructure_goal->angle_intake = intake_goal_;
+        new_superstructure_goal->angle_shoulder = shoulder_goal_;
+        new_superstructure_goal->angle_wrist = wrist_goal_;
 
-      new_superstructure_goal->max_angular_velocity_intake = 7.0;
-      new_superstructure_goal->max_angular_velocity_shoulder = 4.0;
-      new_superstructure_goal->max_angular_velocity_wrist = 10.0;
-      if (use_slow_profile) {
-        new_superstructure_goal->max_angular_acceleration_intake = 10.0;
-      } else {
-        new_superstructure_goal->max_angular_acceleration_intake = 40.0;
-      }
-      new_superstructure_goal->max_angular_acceleration_shoulder = 10.0;
-      new_superstructure_goal->max_angular_acceleration_wrist = 25.0;
+        new_superstructure_goal->max_angular_velocity_intake = 7.0;
+        new_superstructure_goal->max_angular_velocity_shoulder = 4.0;
+        new_superstructure_goal->max_angular_velocity_wrist = 10.0;
+        if (use_slow_profile) {
+          new_superstructure_goal->max_angular_acceleration_intake = 10.0;
+        } else {
+          new_superstructure_goal->max_angular_acceleration_intake = 40.0;
+        }
+        new_superstructure_goal->max_angular_acceleration_shoulder = 10.0;
+        if (shoulder_goal_ > 1.0) {
+          new_superstructure_goal->max_angular_acceleration_wrist = 45.0;
+        } else {
+          new_superstructure_goal->max_angular_acceleration_wrist = 25.0;
+        }
 
-      // Granny mode
-      /*
-      new_superstructure_goal->max_angular_velocity_intake = 0.2;
-      new_superstructure_goal->max_angular_velocity_shoulder = 0.2;
-      new_superstructure_goal->max_angular_velocity_wrist = 0.2;
-      new_superstructure_goal->max_angular_acceleration_intake = 1.0;
-      new_superstructure_goal->max_angular_acceleration_shoulder = 1.0;
-      new_superstructure_goal->max_angular_acceleration_wrist = 1.0;
-      */
-      if (is_intaking_) {
-        new_superstructure_goal->voltage_top_rollers = 12.0;
-        new_superstructure_goal->voltage_bottom_rollers = 12.0;
-      } else if (is_outtaking_) {
-        new_superstructure_goal->voltage_top_rollers = -12.0;
-        new_superstructure_goal->voltage_bottom_rollers = -7.0;
-      } else {
-        new_superstructure_goal->voltage_top_rollers = 0.0;
-        new_superstructure_goal->voltage_bottom_rollers = 0.0;
-      }
+        // Granny mode
+        /*
+        new_superstructure_goal->max_angular_velocity_intake = 0.2;
+        new_superstructure_goal->max_angular_velocity_shoulder = 0.2;
+        new_superstructure_goal->max_angular_velocity_wrist = 0.2;
+        new_superstructure_goal->max_angular_acceleration_intake = 1.0;
+        new_superstructure_goal->max_angular_acceleration_shoulder = 1.0;
+        new_superstructure_goal->max_angular_acceleration_wrist = 1.0;
+        */
+        if (is_intaking_) {
+          new_superstructure_goal->voltage_top_rollers = 12.0;
+          new_superstructure_goal->voltage_bottom_rollers = 12.0;
+        } else if (is_outtaking_) {
+          new_superstructure_goal->voltage_top_rollers = -12.0;
+          new_superstructure_goal->voltage_bottom_rollers = -7.0;
+        } else {
+          new_superstructure_goal->voltage_top_rollers = 0.0;
+          new_superstructure_goal->voltage_bottom_rollers = 0.0;
+        }
 
-      new_superstructure_goal->traverse_unlatched = traverse_unlatched_;
-      new_superstructure_goal->traverse_down = traverse_down_;
+        new_superstructure_goal->traverse_unlatched = traverse_unlatched_;
+        new_superstructure_goal->unfold_climber = false;
+        new_superstructure_goal->voltage_climber = voltage_climber;
+        new_superstructure_goal->traverse_down = traverse_down_;
+        new_superstructure_goal->force_intake = true;
 
-      if (!new_superstructure_goal.Send()) {
-        LOG(ERROR, "Sending superstructure goal failed.\n");
-      } else {
-        LOG(DEBUG, "sending goals: intake: %f, shoulder: %f, wrist: %f\n",
-            intake_goal_, shoulder_goal_, wrist_goal_);
+        if (!new_superstructure_goal.Send()) {
+          LOG(ERROR, "Sending superstructure goal failed.\n");
+        } else {
+          LOG(DEBUG, "sending goals: intake: %f, shoulder: %f, wrist: %f\n",
+              intake_goal_, shoulder_goal_, wrist_goal_);
+        }
       }
 
       if (!shooter_queue.goal.MakeWithBuilder()
@@ -380,6 +424,7 @@
                .clamp_open(is_intaking_ || is_outtaking_)
                .push_to_shooter(fire_)
                .force_lights_on(force_lights_on)
+               .shooting_forwards(wrist_goal_ > 0)
                .Send()) {
         LOG(ERROR, "Sending shooter goal failed.\n");
       }
@@ -441,6 +486,8 @@
 
   const ::frc971::control_loops::drivetrain::DrivetrainConfig dt_config_;
 
+  bool is_expanding_ = false;
+
   ::aos::util::SimpleLogInterval no_drivetrain_status_ =
       ::aos::util::SimpleLogInterval(::aos::time::Time::InSeconds(0.2), WARNING,
                                      "no drivetrain status");
diff --git a/y2016/plotting/responsive_plotter.js b/y2016/plotting/responsive_plotter.js
new file mode 100644
index 0000000..0840e1d
--- /dev/null
+++ b/y2016/plotting/responsive_plotter.js
@@ -0,0 +1,238 @@
+"use strict";
+
+// Create anonymous namespace to avoid leaking these functions.
+(function() {
+// Convenience function that fetches a file and extracts the array buffer.
+function fetch_ArrayBuffer(url) { // returns Promise<ArrayBuffer>
+	return fetch(url).then(function(val) { return val.arrayBuffer(); });
+}
+
+// Two dimensional vector.
+class Point2d {
+	constructor(x, y) {
+		this.x = x;
+		this.y = y;
+	}
+	sub(o) { return new Point2d(this.x - o.x, this.y - o.y); }
+	add(o) { return new Point2d(this.x + o.x, this.y + o.y); }
+};
+
+// Drag event object for updating a Point2d class by reference.
+class PointDrag {
+	constructor(point) { // point : Point2d
+		this.point = point;
+	}
+	doDrag(delta) {
+		this.point.x += delta.x;
+		this.point.y += delta.y;
+	}
+	doMouseUp(e) { return null; }
+}
+
+// Takes in a canvas and adds the ability to click and drag the offset point.
+// scaleX and scaleY are allowed to be locked or not-locked as the scroll events
+// must be handled by the user of this class.
+//
+// offset.x and offset.y are defined in reference to the model-scale, not the viewport.
+// Thus to move the viewport you need to use offset.x * scaleX, etc.
+//
+// scaleX and scaleY aren't automatically applied to the rendering context because
+// differing x and y scales mess up the line width rendering.
+class ClickDrag {
+	constructor(canvas) {
+ 		canvas.addEventListener('selectstart', function(e) { e.preventDefault(); return false; }, false);
+  	canvas.addEventListener('mousemove', this.handleMouseMove.bind(this), true);
+		canvas.addEventListener('mousedown', this.handleMouseDown.bind(this), true);
+		canvas.addEventListener('mouseup', this.handleMouseUp.bind(this), true);
+		this.canvas = canvas;
+		this.dragger = null;
+		this.offset = new Point2d(0, 0);
+		this.scaleX = 1.0;
+		this.scaleY = 1.0;
+		this.old_point = null;
+		this.on_redraw = null;
+	}
+	translateContext(ctx) { // ctx : CanvasRenderingContext2D 
+		ctx.translate(this.offset.x * this.scaleX, this.offset.y * this.scaleY);
+	}
+	handleMouseMove(e) { // e : MouseEvent
+		let pos = new Point2d(e.offsetX / this.scaleX, e.offsetY / this.scaleY);
+		if (this.old_point !== null && this.dragger !== null) {
+			this.dragger.doDrag(pos.sub(this.old_point));
+			if (this.on_redraw !== null) { this.on_redraw(); }
+		}
+		this.old_point = pos;
+  }
+	get width() { return this.canvas.width; }
+	handleMouseDown(e) { // e : MouseEvent
+		this.dragger = new PointDrag(this.offset);
+	}
+	handleMouseUp(e) { // e : MouseEvent
+		if (this.dragger === null) { return; }
+		if (this.dragger.doMouseUp !== undefined) {
+			this.dragger = this.dragger.doMouseUp(e);
+			if (this.on_redraw !== null) { this.on_redraw(); }
+		}
+	}
+	multiplyScale(evt, dx, dy) {
+		let x_cur = evt.offsetX / this.scaleX - this.offset.x;
+		let y_cur = evt.offsetY / this.scaleY - this.offset.y;
+		this.scaleX *= dx;
+		this.scaleY *= dy;
+		this.offset.x = evt.offsetX / this.scaleX - x_cur;
+		this.offset.y = evt.offsetY / this.scaleY - y_cur;
+		if (this.on_redraw !== null) { this.on_redraw(); }
+	}
+};
+
+// This represents a particular downsampling of a timeseries dataset.
+// For the base level, data = min = max.
+// This is required
+class MipMapLevel {
+	// All arrays should be the same size.
+	constructor(data, min, max, scale) { // data : Float32Array, min : Float32Array, max : Float32Array, scale : Integer
+		this.data = data;
+		this.min = min;
+		this.max = max;
+		this.scale = scale;
+	}
+	get length() { return this.data.length; }
+	// Uses box filter to downsample. Guassian may be an improvement.
+	downsample() {
+		let new_length = (this.data.length / 2) | 0;
+		let data = new Float32Array(new_length);
+		let min = new Float32Array(new_length);
+		let max = new Float32Array(new_length);
+		for (let i = 0; i < new_length; i++) {
+			let i1 = i * 2;
+			let i2 = i1 + 1
+			data[i] = (this.data[i1] + this.data[i2]) / 2.0;
+			min[i] = Math.min(this.min[i1], this.min[i2]);
+			max[i] = Math.max(this.max[i1], this.max[i2]);
+		}
+		return new MipMapLevel(data, min, max, this.scale * 2);
+	}
+	static makeBaseLevel(data) { // data : Float32Array
+		return new MipMapLevel(data, data, data, 1);
+	}
+	clipv(v) { // v : Numeric
+		return Math.min(Math.max(v|0, 0), this.length - 1);
+	}
+	draw(ctx, clickDrag) { // ctx : CanvasRenderingContext2D, clickDrag : ClickDrag
+		let scalex = clickDrag.scaleX * this.scale;
+		let scaley = clickDrag.scaleY;
+		let stx = -clickDrag.offset.x / this.scale;
+		let edx = stx + clickDrag.width / scalex;
+		let sti = this.clipv(stx - 2);
+		let edi = this.clipv(edx + 2);
+		ctx.beginPath();
+		ctx.fillStyle="#00ff00";
+		ctx.moveTo(sti * scalex, scaley * this.min[sti]);
+		for (let i = sti + 1; i <= edi; i++) {
+			ctx.lineTo(i * scalex, scaley * this.min[i]);
+		}
+		for (let i = edi; i >= sti; --i) {
+			ctx.lineTo(i * scalex, scaley * this.max[i]);
+		}
+		ctx.fill();
+		ctx.closePath();
+
+		ctx.beginPath();
+		ctx.strokeStyle="#008f00";
+		ctx.moveTo(sti * scalex, scaley * this.data[sti]);
+		for (let i = sti + 1; i <= edi; i++) {
+			ctx.lineTo(i * scalex, scaley * this.data[i]);
+		}
+		ctx.stroke();
+		ctx.closePath();
+	}
+};
+
+// This class represents all downsampled data levels.
+// This must only be used for descrite time-series data.
+class MipMapper {
+	constructor(samples) { // samples : Float32Array
+		this.levels = [];
+		let level = MipMapLevel.makeBaseLevel(samples);
+		this.levels.push(level);
+		while (level.length > 2) {
+			level = level.downsample();
+			this.levels.push(level);
+		}
+	}
+	// Find the level such that samples are spaced at most 2 pixels apart
+	getLevel(scale) { // scale : Float
+		let level = this.levels[0];
+		for (let i = 0; i < this.levels.length; ++i) {
+			// Someone who understands nyquist could probably improve this.
+			if (this.levels[i].scale * scale <= 4.0) {
+				level = this.levels[i];
+			}
+		}
+		return level;
+	}
+}
+
+// Custom HTML element for x-responsive-plotter.
+// This should be the main entry-point for this code.
+class ResponsivePlotter extends HTMLElement {
+	createdCallback() {
+		this.data = null;
+		this.canvas = document.createElement("canvas");
+		this.canvas.style["background"] = "inherit";
+		this.canvas.addEventListener("mousewheel", this.doScroll.bind(this), false);
+		this.clickDrag = new ClickDrag(this.canvas);
+		this.clickDrag.on_redraw = this.doRedraw.bind(this);
+		this.clickDrag.offset.y = 160; //320;
+		this.updateInnerData();
+		this.appendChild(this.canvas);
+	}
+	doScroll(e) {
+		let factor = (e.wheelDelta < 0) ? 0.9 : 1.1;
+		this.clickDrag.multiplyScale(e, e.shiftKey ? 1.0 : factor, e.shiftKey ? factor : 1.0);
+		e.preventDefault();
+	}
+	doRedraw() {
+		this.redraw();
+	}
+	updateInnerData() {
+		this.canvas.width = this.getAttribute("width") || 640;
+		this.canvas.height = this.getAttribute("height") || 480;
+		fetch_ArrayBuffer(this.getAttribute("data")).then(this.dataUpdated.bind(this));
+		this.redraw();
+	}
+	attributeChangedCallback(attrName, oldVal, newVal) {
+		if (attrName == "width") {
+			this.canvas.width = this.getAttribute("width") || 640;
+			this.redraw();
+		} else if (attrName == "height") {
+			this.canvas.width = this.getAttribute("height") || 480;
+			this.redraw();
+		} else if (attrName == "data") {
+			// Should this clear out the canvas if a different url is selected?
+			// Well it does.
+			this.data = null;
+			fetch_ArrayBuffer(this.getAttribute("data")).then(this.dataUpdated.bind(this));
+		}
+	}
+	dataUpdated(data) { // data : ArrayBuffer
+		this.data = new MipMapper(new Float32Array(data));
+		this.redraw();
+	}
+	redraw() {
+		let ctx = this.canvas.getContext('2d');
+		ctx.clearRect(0, 0, this.canvas.width, this.canvas.height);
+		ctx.save();
+		this.clickDrag.translateContext(ctx);
+		if (this.data !== null) {
+			let level = this.data.getLevel(this.clickDrag.scaleX);
+			level.draw(ctx, this.clickDrag);
+		}
+		ctx.restore();
+	}
+};
+
+
+// TODO(parker): This is chrome-specific v0 version of this switch to v1 when available.
+document.registerElement('x-responsive-plotter', ResponsivePlotter);
+})();
diff --git a/y2016/plotting/test.html b/y2016/plotting/test.html
new file mode 100644
index 0000000..df278b0
--- /dev/null
+++ b/y2016/plotting/test.html
@@ -0,0 +1,12 @@
+<!DOCTYPE html>
+<html>
+	<head>
+		<meta charset="UTF-8">
+		<script src="/responsive_plotter.js" type="text/javascript"></script>
+	</head>
+
+	<body style=>
+		<x-responsive-plotter width=800 data="/test_data" style="background: lightblue;">
+		</x-responsive-plotter>
+	</body>
+</html>
diff --git a/y2016/plotting/test.rb b/y2016/plotting/test.rb
new file mode 100644
index 0000000..9f2f58a
--- /dev/null
+++ b/y2016/plotting/test.rb
@@ -0,0 +1,29 @@
+require "sinatra"
+
+# Must use sinatra server for this because fetch() in javascript
+# cannot load from the filesystem.
+get '/test.html' do
+	File.read("./test.html")
+end
+
+get '/responsive_plotter.js' do
+	content_type 'text/javascript'
+	File.read("./responsive_plotter.js")
+end
+
+get '/test_data' do
+	content_type 'binary/octet-stream'
+	data = ""
+	# Use ./test_data if it exists. Otherwise random data.
+	if (File.exists?("./test_data"))
+		data = File.read("./test_data")
+	else
+		1000.times do
+			data += (1024.times.collect do |i|
+				(rand() * 480  - 160)
+			end.pack("F*"))
+		end
+	end
+	data
+end
+
diff --git a/y2016/vision/BUILD b/y2016/vision/BUILD
index 550e605..f41ea84 100644
--- a/y2016/vision/BUILD
+++ b/y2016/vision/BUILD
@@ -92,5 +92,7 @@
     ':vision_data',
     ':stereo_geometry',
     '//y2016:constants',
+    '//frc971/control_loops/drivetrain:drivetrain_queue',
+    '//aos/common:mutex',
   ],
 )
diff --git a/y2016/vision/calibration.pb b/y2016/vision/calibration.pb
index 83fd42a..b24a6e4 100644
--- a/y2016/vision/calibration.pb
+++ b/y2016/vision/calibration.pb
@@ -1,7 +1,7 @@
 calibration {
   robot: "competition"
   calibration: {
-    focal_length: 1.116070312
+    focal_length: 1.236070312
     center_center_dist: 0.27051
     center_center_skew: -16.65
     camera_y_skew: 20.0
@@ -15,14 +15,14 @@
     camera_exposure: 10
     camera_brightness: 128
     camera_gain: 0
-    camera_fps: 10
+    camera_fps: 20
   }
 }
 
 calibration {
   robot: "practice"
   calibration {
-    focal_length: 1.1160703125
+    focal_length: 1.236070312
     center_center_dist: 0.26829
     center_center_skew: 0.0
     camera_y_skew: 0.0
@@ -36,7 +36,7 @@
     camera_exposure: 10
     camera_brightness: 128
     camera_gain: 0
-    camera_fps: 5
+    camera_fps: 20
   }
 }
 
diff --git a/y2016/vision/target_receiver.cc b/y2016/vision/target_receiver.cc
index b51e4ed..3967e60 100644
--- a/y2016/vision/target_receiver.cc
+++ b/y2016/vision/target_receiver.cc
@@ -4,12 +4,19 @@
 
 #include <vector>
 #include <memory>
+#include <array>
+#include <thread>
+#include <atomic>
+#include <limits>
 
 #include "aos/linux_code/init.h"
 #include "aos/common/time.h"
 #include "aos/common/logging/logging.h"
 #include "aos/common/logging/queue_logging.h"
 #include "aos/vision/events/udp.h"
+#include "aos/common/mutex.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 
 #include "y2016/vision/vision.q.h"
 #include "y2016/vision/vision_data.pb.h"
@@ -19,7 +26,8 @@
 namespace y2016 {
 namespace vision {
 
-::aos::vision::Vector<2> CreateCenterFromTarget(double lx, double ly, double rx, double ry) {
+::aos::vision::Vector<2> CreateCenterFromTarget(double lx, double ly, double rx,
+                                                double ry) {
   return ::aos::vision::Vector<2>((lx + rx) / 2.0, (ly + ry) / 2.0);
 }
 
@@ -32,7 +40,8 @@
 void SelectTargets(const VisionData &left_target,
                    const VisionData &right_target,
                    ::aos::vision::Vector<2> *center_left,
-                   ::aos::vision::Vector<2> *center_right) {
+                   ::aos::vision::Vector<2> *center_right, double *angle_left,
+                   double *angle_right) {
   // No good targets. Let the caller decide defaults.
   if (right_target.target_size() == 0 || left_target.target_size() == 0) {
     return;
@@ -67,6 +76,7 @@
     const double angle = h / wid1;
     if (min_angle == -1.0 || ::std::abs(angle) < ::std::abs(min_angle)) {
       min_angle = angle;
+      *angle_left = angle;
       left_index = i;
     }
   }
@@ -77,19 +87,21 @@
   double good_ang = min_angle;
   double min_ang_err = -1.0;
   int right_index = -1;
-  // Now pick the bottom edge angle from the right that lines up best with the left.
+  // Now pick the bottom edge angle from the right that lines up best with the
+  // left.
   for (int j = 0; j < right_target.target_size(); j++) {
     double wid2 = TargetWidth(right_target.target(j).left_corner_x(),
-                                right_target.target(j).left_corner_y(),
-                                right_target.target(j).right_corner_x(),
-                                right_target.target(j).right_corner_y());
+                              right_target.target(j).left_corner_y(),
+                              right_target.target(j).right_corner_x(),
+                              right_target.target(j).right_corner_y());
     h = right_target.target(j).left_corner_y() -
         right_target.target(j).right_corner_y();
-    double ang = h/ wid2;
+    double ang = h / wid2;
     double ang_err = ::std::abs(good_ang - ang);
     if (min_ang_err == -1.0 || min_ang_err > ang_err) {
       min_ang_err = ang_err;
       right_index = j;
+      *angle_right = ang;
     }
   }
 
@@ -105,86 +117,294 @@
                              right_target.target(right_index).right_corner_y());
 }
 
+class CameraHandler {
+ public:
+  void Received(const VisionData &target, ::aos::time::Time now) {
+    if (current_.received) {
+      last_ = current_;
+    }
+    current_.target = target;
+    current_.rx_time = now;
+    current_.capture_time = now -
+                            ::aos::time::Time::InNS(target.send_timestamp() -
+                                                    target.image_timestamp()) +
+                            // It takes a bit to shoot a frame.  Push the frame
+                            // further back in time.
+                            ::aos::time::Time::InMS(10);
+    current_.received = true;
+  }
+
+  void CheckStale(::aos::time::Time now) {
+    if (now > current_.rx_time + ::aos::time::Time::InMS(50)) {
+      current_.received = false;
+      last_.received = false;
+    }
+  }
+
+  bool received_both() const { return current_.received && last_.received; }
+
+  bool is_valid() const {
+    return current_.target.target_size() > 0 && last_.target.target_size() > 0;
+  }
+
+  const VisionData &target() const { return current_.target; }
+  const VisionData &last_target() const { return last_.target; }
+
+  ::aos::time::Time capture_time() const { return current_.capture_time; }
+  ::aos::time::Time last_capture_time() const { return last_.capture_time; }
+
+ private:
+  struct TargetWithTimes {
+    VisionData target;
+    ::aos::time::Time rx_time{0, 0};
+    ::aos::time::Time capture_time{0, 0};
+    bool received = false;
+  };
+
+  TargetWithTimes current_;
+  TargetWithTimes last_;
+};
+
+void CalculateFiltered(const CameraHandler &older, const CameraHandler &newer,
+                       const ::aos::vision::Vector<2> &newer_center,
+                       const ::aos::vision::Vector<2> &last_newer_center,
+                       double angle, double last_angle,
+                       ::aos::vision::Vector<2> *interpolated_result,
+                       double *interpolated_angle) {
+  const double age_ratio =
+      (older.capture_time() - newer.last_capture_time()).ToSeconds() /
+      (newer.capture_time() - newer.last_capture_time()).ToSeconds();
+  interpolated_result->Set(
+      newer_center.x() * age_ratio + (1 - age_ratio) * last_newer_center.x(),
+      newer_center.y() * age_ratio + (1 - age_ratio) * last_newer_center.y());
+
+  *interpolated_angle = angle * age_ratio + (1 - age_ratio) * last_angle;
+}
+
+// Handles calculating drivetrain offsets.
+class DrivetrainOffsetCalculator {
+ public:
+  // To be called by ::std::thread.
+  void operator()() {
+    auto &status = ::frc971::control_loops::drivetrain_queue.status;
+    while (run_) {
+      status.FetchAnother();
+
+      ::aos::MutexLocker locker(&lock_);
+      data_[data_index_].time = status->sent_time;
+      data_[data_index_].left = status->estimated_left_position;
+      data_[data_index_].right = status->estimated_right_position;
+      ++data_index_;
+      if (data_index_ == data_.size()) data_index_ = 0;
+      if (valid_data_ < data_.size()) ++valid_data_;
+    }
+  }
+
+  // Takes a vision status message with everything except
+  // drivetrain_{left,right}_position set and sets those.
+  // Returns false if it doesn't have enough data to fill them out.
+  bool CompleteVisionStatus(::y2016::vision::VisionStatus *status) {
+    if (valid_data_ == 0) return false;
+
+    const ::aos::time::Time capture_time =
+        ::aos::time::Time::InNS(status->target_time);
+    DrivetrainData before, after;
+    FindBeforeAfter(&before, &after, capture_time);
+
+    if (before.time == after.time) {
+      status->drivetrain_left_position = before.left;
+      status->drivetrain_right_position = before.right;
+    } else {
+      const double age_ratio = (capture_time - before.time).ToSeconds() /
+                               (after.time - before.time).ToSeconds();
+      status->drivetrain_left_position =
+          before.left * (1 - age_ratio) + after.left * age_ratio;
+      status->drivetrain_right_position =
+          before.right * (1 - age_ratio) + after.right * age_ratio;
+    }
+
+    return true;
+  }
+
+  void Quit() { run_ = false; }
+
+ private:
+  struct DrivetrainData {
+    ::aos::time::Time time;
+    double left, right;
+  };
+
+  // Fills out before and after with the data surrounding capture_time.
+  // They might be identical if that's the closest approximation.
+  // Do not call this if valid_data_ is 0.
+  void FindBeforeAfter(DrivetrainData *before, DrivetrainData *after,
+                       ::aos::time::Time capture_time) {
+    ::aos::MutexLocker locker(&lock_);
+    size_t location = 0;
+    while (true) {
+      // We hit the end of our data. Just fill them both out as the last data
+      // point.
+      if (location >= valid_data_) {
+        *before = *after =
+            data_[previous_index((valid_data_ + data_index_) % data_.size())];
+        return;
+      }
+
+      // The index into data_ corresponding to location positions after
+      // (data_index_ - 1).
+      const size_t index = previous_index(location + data_index_);
+
+      // If we've found the one we want.
+      if (data_[index].time > capture_time) {
+        *after = data_[index];
+        if (location == 0) {
+          // If this is the first one and it's already after, just return the
+          // same thing for both.
+          *before = data_[index];
+        } else {
+          *before = data_[previous_index(index)];
+        }
+        return;
+      }
+
+      ++location;
+    }
+  }
+
+  size_t previous_index(size_t index) const {
+    if (index == 0) {
+      return data_.size() - 1;
+    } else {
+      return index - 1;
+    }
+  }
+
+  ::std::array<DrivetrainData, 200> data_;
+  // The index into data_ the next data point is going at.
+  size_t data_index_ = 0;
+  // How many elemets of data_ are valid.
+  size_t valid_data_ = 0;
+
+  ::aos::Mutex lock_;
+
+  ::std::atomic<bool> run_{true};
+};
 
 void Main() {
   StereoGeometry stereo(constants::GetValues().vision_name);
   LOG(INFO, "calibration: %s\n",
       stereo.calibration().ShortDebugString().c_str());
 
-  VisionData left_target;
-  aos::time::Time left_rx_time{0, 0};
+  DrivetrainOffsetCalculator drivetrain_offset;
+  ::std::thread drivetrain_offset_thread(::std::ref(drivetrain_offset));
 
-  VisionData right_target;
-  aos::time::Time right_rx_time{0, 0};
+  CameraHandler left;
+  CameraHandler right;
 
   ::aos::vision::RXUdpSocket recv(8080);
   char rawData[65507];
-  bool got_left = false;
-  bool got_right = false;
 
   while (true) {
     // TODO(austin): Don't malloc.
     VisionData target;
     int size = recv.Recv(rawData, 65507);
-    aos::time::Time now = aos::time::Time::Now();
+    ::aos::time::Time now = ::aos::time::Time::Now();
 
     if (target.ParseFromArray(rawData, size)) {
       if (target.camera_index() == 0) {
-        left_target = target;
-        left_rx_time = now;
-        got_left = true;
+        left.Received(target, now);
       } else {
-        right_target = target;
-        right_rx_time = now;
-        got_right = true;
+        right.Received(target, now);
       }
     } else {
       LOG(ERROR, "oh noes: parse error\n");
       continue;
     }
 
-    if (now > left_rx_time + aos::time::Time::InMS(50)) {
-      got_left = false;
-    }
-    if (now > right_rx_time + aos::time::Time::InMS(50)) {
-      got_right = false;
-    }
+    left.CheckStale(now);
+    right.CheckStale(now);
 
-    if (got_left && got_right) {
-      bool left_image_valid = left_target.target_size() > 0;
-      bool right_image_valid = right_target.target_size() > 0;
+    if (left.received_both() && right.received_both()) {
+      const bool left_image_valid = left.is_valid();
+      const bool right_image_valid = right.is_valid();
 
       auto new_vision_status = vision_status.MakeMessage();
       new_vision_status->left_image_valid = left_image_valid;
       new_vision_status->right_image_valid = right_image_valid;
       if (left_image_valid && right_image_valid) {
-        ::aos::vision::Vector<2> center0(0.0, 0.0);
-        ::aos::vision::Vector<2> center1(0.0, 0.0);
-        SelectTargets(left_target, right_target, &center0, &center1);
+        ::aos::vision::Vector<2> center_left(0.0, 0.0);
+        ::aos::vision::Vector<2> center_right(0.0, 0.0);
+        double angle_left;
+        double angle_right;
+        SelectTargets(left.target(), right.target(), &center_left,
+                      &center_right, &angle_left, &angle_right);
+
+        // TODO(Ben): Remember this from last time instead of recalculating it
+        // each time.
+        ::aos::vision::Vector<2> last_center_left(0.0, 0.0);
+        ::aos::vision::Vector<2> last_center_right(0.0, 0.0);
+        double last_angle_left;
+        double last_angle_right;
+        SelectTargets(left.last_target(), right.last_target(),
+                      &last_center_left, &last_center_right,
+                      &last_angle_left, &last_angle_right);
+
+        ::aos::vision::Vector<2> filtered_center_left(0.0, 0.0);
+        ::aos::vision::Vector<2> filtered_center_right(0.0, 0.0);
+        double filtered_angle_left;
+        double filtered_angle_right;
+        if (left.capture_time() < right.capture_time()) {
+          filtered_center_left = center_left;
+          filtered_angle_left = angle_left;
+          new_vision_status->target_time = left.capture_time().ToNSec();
+          CalculateFiltered(left, right, center_right, last_center_right,
+                            angle_right, last_angle_right,
+                            &filtered_center_right, &filtered_angle_right);
+        } else {
+          filtered_center_right = center_right;
+          filtered_angle_right = angle_right;
+          new_vision_status->target_time = right.capture_time().ToNSec();
+          CalculateFiltered(right, left, center_left, last_center_left,
+                            angle_left, last_angle_left, &filtered_center_left,
+                            &filtered_angle_left);
+        }
+
         double distance, horizontal_angle, vertical_angle;
-        stereo.Process(center0, center1, &distance, &horizontal_angle,
-                       &vertical_angle);
-        new_vision_status->left_image_timestamp = left_target.image_timestamp();
-        new_vision_status->right_image_timestamp = right_target.image_timestamp();
-        new_vision_status->left_send_timestamp = left_target.send_timestamp();
-        new_vision_status->right_send_timestamp = right_target.send_timestamp();
+        stereo.Process(filtered_center_left, filtered_center_right, &distance,
+                       &horizontal_angle, &vertical_angle);
+        new_vision_status->left_image_timestamp =
+            left.target().image_timestamp();
+        new_vision_status->right_image_timestamp =
+            right.target().image_timestamp();
+        new_vision_status->left_send_timestamp = left.target().send_timestamp();
+        new_vision_status->right_send_timestamp = right.target().send_timestamp();
         new_vision_status->horizontal_angle = horizontal_angle;
         new_vision_status->vertical_angle = vertical_angle;
         new_vision_status->distance = distance;
+        new_vision_status->angle =
+            (filtered_angle_left + filtered_angle_right) / 2.0;
       }
-      LOG_STRUCT(DEBUG, "vision", *new_vision_status);
 
-      if (!new_vision_status.Send()) {
-        LOG(ERROR, "Failed to send vision information\n");
+      if (drivetrain_offset.CompleteVisionStatus(new_vision_status.get())) {
+        LOG_STRUCT(DEBUG, "vision", *new_vision_status);
+        if (!new_vision_status.Send()) {
+          LOG(ERROR, "Failed to send vision information\n");
+        }
+      } else {
+        LOG_STRUCT(WARNING, "vision without drivetrain", *new_vision_status);
       }
     }
 
     if (target.camera_index() == 0) {
-      LOG(DEBUG, "left_target: %s\n", left_target.ShortDebugString().c_str());
+      LOG(DEBUG, "left_target: %s\n", left.target().ShortDebugString().c_str());
     } else {
-      LOG(DEBUG, "right_target: %s\n", right_target.ShortDebugString().c_str());
+      LOG(DEBUG, "right_target: %s\n",
+          right.target().ShortDebugString().c_str());
     }
   }
+
+  drivetrain_offset.Quit();
+  drivetrain_offset_thread.join();
 }
 
 }  // namespace vision
diff --git a/y2016/vision/vision.q b/y2016/vision/vision.q
index 2d95c3c..872c9ae 100644
--- a/y2016/vision/vision.q
+++ b/y2016/vision/vision.q
@@ -20,5 +20,17 @@
   double vertical_angle;
   // Distance to the target in meters.
   double distance;
+  // The angle in radians of the bottom of the target.
+  double angle;
+
+  // Capture time of the angle using the clock behind Time::Now().
+  int64_t target_time;
+
+  // The estimated positions of both sides of the drivetrain when the frame
+  // was captured.
+  // These are the estimated_left_position and estimated_right_position members
+  // of the drivetrain queue.
+  double drivetrain_left_position;
+  double drivetrain_right_position;
 };
 queue VisionStatus vision_status;
diff --git a/y2016/wpilib/wpilib_interface.cc b/y2016/wpilib/wpilib_interface.cc
index 8273bf9..acf820f 100644
--- a/y2016/wpilib/wpilib_interface.cc
+++ b/y2016/wpilib/wpilib_interface.cc
@@ -428,14 +428,14 @@
     compressor_ = ::std::move(compressor);
   }
 
-  void set_drivetrain_left(
+  void set_drivetrain_shifter(
       ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> s) {
-    drivetrain_left_ = ::std::move(s);
+    drivetrain_shifter_ = ::std::move(s);
   }
 
-  void set_drivetrain_right(
+  void set_climber_trigger(
       ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> s) {
-    drivetrain_right_ = ::std::move(s);
+    climber_trigger_ = ::std::move(s);
   }
 
   void set_traverse(
@@ -487,8 +487,8 @@
         drivetrain_.FetchLatest();
         if (drivetrain_.get()) {
           LOG_STRUCT(DEBUG, "solenoids", *drivetrain_);
-          drivetrain_left_->Set(!drivetrain_->left_high);
-          drivetrain_right_->Set(!drivetrain_->right_high);
+          drivetrain_shifter_->Set(
+              !(drivetrain_->left_high || drivetrain_->right_high));
         }
       }
 
@@ -499,14 +499,29 @@
           shooter_clamp_->Set(shooter_->clamp_open);
           shooter_pusher_->Set(shooter_->push_to_shooter);
           lights_->Set(shooter_->lights_on);
-          flashlight_->Set(shooter_->lights_on ? Relay::kForward : Relay::kOff);
+          if (shooter_->forwards_flashlight) {
+            if (shooter_->backwards_flashlight) {
+              flashlight_->Set(Relay::kOn);
+            } else {
+              flashlight_->Set(Relay::kReverse);
+            }
+          } else {
+            if (shooter_->backwards_flashlight) {
+              flashlight_->Set(Relay::kForward);
+            } else {
+              flashlight_->Set(Relay::kOff);
+            }
+          }
         }
       }
 
       {
         superstructure_.FetchLatest();
         if (superstructure_.get()) {
-          LOG_STRUCT(DEBUG, "solenoids", *shooter_);
+          LOG_STRUCT(DEBUG, "solenoids", *superstructure_);
+
+          climber_trigger_->Set(superstructure_->unfold_climber);
+
           traverse_->Set(superstructure_->traverse_down);
           traverse_latch_->Set(superstructure_->traverse_unlatched);
         }
@@ -530,9 +545,9 @@
  private:
   const ::std::unique_ptr<::frc971::wpilib::BufferedPcm> &pcm_;
 
-  ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> drivetrain_left_,
-      drivetrain_right_, shooter_clamp_, shooter_pusher_, lights_, traverse_,
-      traverse_latch_;
+  ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> drivetrain_shifter_,
+      shooter_clamp_, shooter_pusher_, lights_, traverse_, traverse_latch_,
+      climber_trigger_;
   ::std::unique_ptr<Relay> flashlight_;
   ::std::unique_ptr<Compressor> compressor_;
 
@@ -630,6 +645,10 @@
     bottom_rollers_talon_ = ::std::move(t);
   }
 
+  void set_climber_talon(::std::unique_ptr<Talon> t) {
+    climber_talon_ = ::std::move(t);
+  }
+
  private:
   virtual void Read() override {
     ::y2016::control_loops::superstructure_queue.output.FetchAnother();
@@ -649,6 +668,7 @@
         12.0);
     top_rollers_talon_->Set(-queue->voltage_top_rollers / 12.0);
     bottom_rollers_talon_->Set(-queue->voltage_bottom_rollers / 12.0);
+    climber_talon_->Set(-queue->voltage_climber / 12.0);
   }
 
   virtual void Stop() override {
@@ -659,7 +679,7 @@
   }
 
   ::std::unique_ptr<Talon> intake_talon_, shoulder_talon_, wrist_talon_,
-      top_rollers_talon_, bottom_rollers_talon_;
+      top_rollers_talon_, bottom_rollers_talon_, climber_talon_;
 };
 
 class WPILibRobot : public ::frc971::wpilib::WPILibRobotBase {
@@ -685,14 +705,14 @@
     reader.set_drivetrain_left_hall(make_unique<AnalogInput>(5));
     reader.set_drivetrain_right_hall(make_unique<AnalogInput>(6));
 
-    reader.set_shooter_left_encoder(make_encoder(3));
-    reader.set_shooter_right_encoder(make_encoder(4));
+    reader.set_shooter_left_encoder(make_encoder(7));
+    reader.set_shooter_right_encoder(make_encoder(-3));
 
     reader.set_intake_encoder(make_encoder(0));
     reader.set_intake_index(make_unique<DigitalInput>(0));
     reader.set_intake_potentiometer(make_unique<AnalogInput>(0));
 
-    reader.set_shoulder_encoder(make_encoder(2));
+    reader.set_shoulder_encoder(make_encoder(4));
     reader.set_shoulder_index(make_unique<DigitalInput>(2));
     reader.set_shoulder_potentiometer(make_unique<AnalogInput>(2));
 
@@ -713,11 +733,9 @@
     ::frc971::wpilib::GyroSender gyro_sender;
     ::std::thread gyro_thread(::std::ref(gyro_sender));
 
-#if 0
-    auto imu_trigger = make_unique<DigitalInput>(100);
-    ::frc971::wpilib::ADIS16448 imu(SPI::Port::kOnboardCS1, imu_trigger.get());
+    auto imu_trigger = make_unique<DigitalInput>(3);
+    ::frc971::wpilib::ADIS16448 imu(SPI::Port::kMXP, imu_trigger.get());
     ::std::thread imu_thread(::std::ref(imu));
-#endif
 
     DrivetrainWriter drivetrain_writer;
     drivetrain_writer.set_drivetrain_left_talon(
@@ -744,19 +762,21 @@
         ::std::unique_ptr<Talon>(new Talon(1)));
     superstructure_writer.set_bottom_rollers_talon(
         ::std::unique_ptr<Talon>(new Talon(0)));
+    superstructure_writer.set_climber_talon(
+        ::std::unique_ptr<Talon>(new Talon(7)));
     ::std::thread superstructure_writer_thread(
         ::std::ref(superstructure_writer));
 
     ::std::unique_ptr<::frc971::wpilib::BufferedPcm> pcm(
         new ::frc971::wpilib::BufferedPcm());
     SolenoidWriter solenoid_writer(pcm);
-    solenoid_writer.set_drivetrain_left(pcm->MakeSolenoid(1));
-    solenoid_writer.set_drivetrain_right(pcm->MakeSolenoid(0));
+    solenoid_writer.set_drivetrain_shifter(pcm->MakeSolenoid(0));
     solenoid_writer.set_traverse_latch(pcm->MakeSolenoid(2));
     solenoid_writer.set_traverse(pcm->MakeSolenoid(3));
     solenoid_writer.set_shooter_clamp(pcm->MakeSolenoid(4));
     solenoid_writer.set_shooter_pusher(pcm->MakeSolenoid(5));
     solenoid_writer.set_lights(pcm->MakeSolenoid(6));
+    solenoid_writer.set_climber_trigger(pcm->MakeSolenoid(1));
     solenoid_writer.set_flashlight(make_unique<Relay>(0));
 
     solenoid_writer.set_compressor(make_unique<Compressor>());
@@ -783,10 +803,8 @@
     reader_thread.join();
     gyro_sender.Quit();
     gyro_thread.join();
-#if 0
     imu.Quit();
     imu_thread.join();
-#endif
 
     drivetrain_writer.Quit();
     drivetrain_writer_thread.join();